图斑飞行

guoshilong

2023-11-15 923a5e9fdfcfcc765606bce6fa7f99cb3717dcbe

 src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java

@@ -1,7 +1,11 @@
package com.dji.sample.wayline.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.CustomClaim;
@@ -12,11 +16,18 @@
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.service.IControlService;
import com.dji.sample.control.service.IDrcService;
import com.dji.sample.geo.entity.GeoJson;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
import com.dji.sample.manage.model.receiver.OsdDockReceiver;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
import com.dji.sample.manage.service.IDeviceRedisService;
@@ -24,13 +35,12 @@
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.geo.utils.GeoUtils;
import com.dji.sample.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.dto.*;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import com.dji.sample.wayline.model.enums.*;
import com.dji.sample.wayline.model.param.CreateJobParam;
import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.model.param.WaylineJobQueryParam;
import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineFileService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
@@ -47,6 +57,7 @@
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.*;
@@ -89,6 +100,9 @@

    @Autowired
    private IWaylineRedisService waylineRedisService;

    @Autowired
    private IControlService controlService;

    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
        int id = mapper.insert(jobEntity);
@@ -143,6 +157,7 @@

    /**
     * 对于即时任务，以服务器时间为准。
     *
     * @param param
     */
    private void fillImmediateTime(CreateJobParam param) {
@@ -158,45 +173,6 @@

    @Override
    public ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {

        //当重复定时和连续执行时走这个逻辑
        if (param.getTaskType().getVal() == WaylineTaskTypeEnum.CONDITION.getVal()){





            //保存数据
            WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
                    .jobId(UUID.randomUUID().toString())
                    .name(param.getName())
                    .dockSn(param.getDockSn())
                    .fileId(param.getFileId())
                    .username(customClaim.getUsername())
                    .workspaceId(customClaim.getWorkspaceId())


                    .beginTime(param.getTaskDays().get(0)*1000)
                    .endTime(param.getTaskDays().get(1)*1000)
                    .status(WaylineJobStatusEnum.PENDING.getVal())
                    .taskType(param.getTaskType().getVal())
                    .waylineType(param.getWaylineType().getVal())
                    .outOfControlAction(param.getOutOfControlAction())
                    .batteryCapacity(param.getMinBatteryCapacity())
                    .rthAltitude(param.getRthAltitude())
                    .mediaCount(0)
                    .repFreVal(param.getRepFreVal())
                    .repFreType(param.getRepFreType())
                    .repRuleType(param.getRepRuleType())
                    .repRuleVal(param.getRepRuleVal())
                    .executeTimeArr(param.getTaskPeriods())
                    .build();

            Boolean insert = mapper.insert(waylineJobEntity)>0;

            return ResponseResult.success(insert);
        }

        fillImmediateTime(param);

//        param.getTaskDays().sort((a, b) -> (int) (a - b));
@@ -230,12 +206,93 @@
        return ResponseResult.success();
    }

    @Override
    public ResponseResult publishFlightTaskCondition(CreateJobParam param, CustomClaim customClaim) throws SQLException {
        //开始日期
        LocalDate startDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(0)), ZoneId.systemDefault());
        long start = LocalDateTime.of(startDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(0).get(0)), ZoneId.systemDefault()))
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();

        //结束日期
        LocalDate endDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(1)), ZoneId.systemDefault());
        long end = LocalDateTime.of(endDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(param.getExecuteStartTimeArr().size() - 1).get(0)), ZoneId.systemDefault()))
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();

        //保存数据
        WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
                .jobId(UUID.randomUUID().toString())
                .name(param.getName())
                .dockSn(param.getDockSn())
                .fileId(param.getFileId())
                .username(customClaim.getUsername())
                .workspaceId(customClaim.getWorkspaceId())

                .beginTime(start)
                .endTime(end)
                .status(WaylineJobStatusEnum.PENDING.getVal())
                .taskType(param.getTaskType().getVal())
                .waylineType(param.getWaylineType().getVal())
                .outOfControlAction(param.getOutOfControlAction())
                .batteryCapacity(param.getMinBatteryCapacity())
                .rthAltitude(param.getRthAltitude())
                .mediaCount(0)
                .repFreVal(param.getRepFreVal())
                .repFreType(param.getRepFreType())
                .repRuleType(param.getRepRuleType())
                .repRuleVal(param.getRepRuleVal())
                .executeTimeArr(param.getTaskPeriods())
                .executeStartTimeArr(param.getExecuteStartTimeArr())
                .build();

        Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);

        if (waylineJobOpt.isEmpty()) {
            throw new SQLException("任务创建失败");
        }

        WaylineJobDTO waylineJob = waylineJobOpt.get();

        //存一条记录,
        List<Long> timeArr = param.getExecuteStartTimeArr().get(0);

        LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
        LocalDateTime beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));

        LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;

        if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() < System.currentTimeMillis()) {
            return ResponseResult.error("任务已过期");
        }
        //条件任务
        if (param.getTaskType() == WaylineTaskTypeEnum.CONDITION) {
            //如果是条件任务类型，需要在任务参数中添加条件。
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(param.getMinBatteryCapacity())
                                    .beginTime(beginTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
                                    .endTime(endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
                                    .build())
                            .build());
        } else {
            waylineJob.setBeginTime(beginTime);
        }

        ResponseResult response = this.publishOneFlightTask(waylineJob);
        if (ResponseResult.CODE_SUCCESS != response.getCode()) {
            return response;
        }

        return ResponseResult.success();
    }

    private void addPreparedJob(WaylineJobDTO waylineJob, CreateJobParam param, Long beginTime, Long endTime) {
        if (WaylineTaskTypeEnum.CONDITION == param.getTaskType()) {
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ?
                                    WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                            .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(param.getMinBatteryCapacity())
                                    .beginTime(beginTime)
@@ -377,7 +434,7 @@

        Set<String> waylineJobIds = waylineJobs.stream().map(WaylineJobDTO::getJobId).collect(Collectors.toSet());
        // Check if the task status is correct.
        boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty() ;
        boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty();
        if (isErr) {
            throw new IllegalArgumentException("以下任务状态不正确，不能取消" + Arrays.toString(jobIds.toArray()));
        }
@@ -416,10 +473,10 @@

    public List<WaylineJobDTO> getJobsByConditions(String workspaceId, Collection<String> jobIds, WaylineJobStatusEnum status) {
        return mapper.selectList(
                new LambdaQueryWrapper<WaylineJobEntity>()
                        .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
                        .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
                        .in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
                        new LambdaQueryWrapper<WaylineJobEntity>()
                                .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
                                .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
                                .in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
                .stream()
                .map(this::entity2Dto)
                .collect(Collectors.toList());
@@ -436,6 +493,16 @@

    @Override
    public Boolean updateJob(WaylineJobDTO dto) {

        try {
            if (dto.getStatus() == 3) {
                this.checkNextJob(dto);
            }
        } catch (SQLException e) {
            throw new RuntimeException(e);
        }


        return mapper.update(this.dto2Entity(dto),
                new LambdaUpdateWrapper<WaylineJobEntity>()
                        .eq(WaylineJobEntity::getJobId, dto.getJobId())) > 0;
@@ -443,20 +510,7 @@

    @Override
    public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam) {
//        Page<WaylineJobEntity> pageData = mapper.selectPage(
//                new Page<WaylineJobEntity>(page, pageSize),
//                new LambdaQueryWrapper<WaylineJobEntity>()
//                        .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
//                        .eq(waylineJobDTO.getTaskType() !=null, WaylineJobEntity::getTaskType, waylineJobDTO.getTaskType())
//                        .eq(waylineJobDTO.getStatus()!=null, WaylineJobEntity::getStatus, waylineJobDTO.getStatus())
//                        .like(StringUtils.hasText(waylineJobDTO.getJobName()),WaylineJobEntity::getName,waylineJobDTO.getJobName())
//
//
//                        .orderByDesc(WaylineJobEntity::getId));

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


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

        List<WaylineJobDTO> records = pageData.getRecords()
                .stream()
@@ -466,12 +520,25 @@
        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
                .stream()
                .map(this::entity2Dto)
                .collect(Collectors.toList());

        return records;
    }


    @Override
    @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND)
    @Transactional(isolation = Isolation.READ_UNCOMMITTED)
    public void flightTaskResourceGet(CommonTopicReceiver receiver, MessageHeaders headers) {
        Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {});
        Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {
        });
        String jobId = jobIdMap.get(MapKeyConst.FLIGHT_ID);

        CommonTopicResponse.CommonTopicResponseBuilder<RequestsReply> builder = CommonTopicResponse.<RequestsReply>builder()
@@ -627,6 +694,237 @@
        return WaylineJobStatusEnum.UNKNOWN;
    }

    @Override
    public WaylineJobEntity getLatestJob(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
        WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);
        return waylineJobEntity;
    }

    @Override
    public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) {

        //获取所有中心点
//        List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
        PointPOJO dockPoint = flyAreaParam.getDockPoint();
        GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());
        List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());

        //一键起飞
        TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);

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

        //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(150.0);
                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
                    /**
                     * {
                     *      targetList:[],
                     *      curIndex:
                     * }
                     */

                    JSONObject jsonObject = new JSONObject();
                    jsonObject.put("targetList",targetList);
                    jsonObject.put("curIndex",0);


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

        return ResponseResult.success();
    }

    public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
        TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();

        takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
        takeoffToPointParam.setTargetLongitude(dockPoint.getLon());
        //设置飞行高度
        takeoffToPointParam.setTargetHeight(120.0);
        //设置安全起飞高度
        takeoffToPointParam.setSecurityTakeoffHeight(100.0);
        //设置返航高度
        takeoffToPointParam.setRthAltitude(100.0);
        //设置失控操作
        takeoffToPointParam.setRcLostAction(DroneRcLostActionEnum.RETURN_HOME);
        //设置起飞速度
        takeoffToPointParam.setMaxSpeed(10.0);
        takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);

        return takeoffToPointParam;
    }


    @Override
    public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {

        WaylineJobEntity params = new WaylineJobEntity();
        params.setJobId(job.getJobId());


        WaylineJobEntity job1 = mapper.selectOne(Wrappers.query(params));

        WaylineJobEntity currentJob = JSON.parseObject(JSON.toJSONString(job1), WaylineJobEntity.class);

        if (currentJob == null) {
            return ResponseResult.error("该任务不存在");
        }

        //该任务没有多次时间
        if (currentJob.getExecuteStartTimeArr() == null) {
            return ResponseResult.success();
        }

        List<List<Long>> executeStartTimeArr = currentJob.getExecuteStartTimeArr();
        int indexTime = -1;

        long currentTime = System.currentTimeMillis();
        for (int i = 0; i < executeStartTimeArr.size(); i++) {
            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
                indexTime = i;
                break;
            }
        }

        if (indexTime == -1) {
            return ResponseResult.success();
        }


        List<Long> timeArr = currentJob.getExecuteStartTimeArr().get(indexTime);
        LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
        LocalDateTime beginDate = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
        LocalDateTime endDate = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
                : beginDate;

        long beginTime = beginDate
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
        long endTime = endDate
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();


        //添加一条新数据
        WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
                .jobId(UUID.randomUUID().toString())
                //大于1则拿前面的parentId,为1则拿第0个的id
                .parentId(indexTime > 1 ? currentJob.getParentId().toString() : currentJob.getId().toString())
                .name(currentJob.getName())
                .dockSn(currentJob.getDockSn())
                .fileId(currentJob.getFileId())
                .username(currentJob.getUsername())
                .workspaceId(currentJob.getWorkspaceId())

                .beginTime(beginTime)
                .endTime(endTime)
                .status(WaylineJobStatusEnum.PENDING.getVal())
                .taskType(currentJob.getTaskType())
                .waylineType(currentJob.getWaylineType())
                .outOfControlAction(currentJob.getOutOfControlAction())
                .batteryCapacity(currentJob.getBatteryCapacity())
                .rthAltitude(currentJob.getRthAltitude())
                .mediaCount(0)
                .repFreVal(currentJob.getRepFreVal())
                .repFreType(currentJob.getRepFreType())
                .repRuleType(currentJob.getRepRuleType())
                .repRuleVal(currentJob.getRepRuleVal())
                .executeTimeArr(currentJob.getExecuteTimeArr())
                .executeStartTimeArr(currentJob.getExecuteStartTimeArr())
                .build();

        Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);

        if (waylineJobOpt.isEmpty()) {
            return ResponseResult.error("任务创建失败");
        }

        WaylineJobDTO waylineJob = waylineJobOpt.get();

        LocalDateTime beginTimeNext = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));

        LocalDateTime endTimeNext = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTimeNext;


        //条件任务
        if (currentJob.getTaskType() == 2) {
            //如果是条件任务类型，需要在任务参数中添加条件。
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(currentJob.getBatteryCapacity())
                                    .beginTime(beginTime)
                                    .endTime(endTime)
                                    .build())
                            .build());
        } else {
            waylineJob.setBeginTime(beginDate);
        }

        ResponseResult response = this.publishOneFlightTask(waylineJob);
        if (ResponseResult.CODE_SUCCESS != response.getCode()) {
            return response;
        }

        return ResponseResult.success();
    }


    @Override
    public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime) {
        WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
        List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId, queryTime);
        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 h = totalTime / 3600;
            long m = (totalTime % 3600) / 60;
            buffer.append(h).append(" h ");
            buffer.append(m).append(" min");
            waylineJobCountDTO.setTotalDuration(buffer.toString());
        }
        return waylineJobCountDTO;
    }

    @Override
    public void updateJobCollect(WaylineJobEntity waylineJob) {
        new LambdaUpdateChainWrapper<>(mapper)
                .eq(WaylineJobEntity::getJobId, waylineJob.getJobId())
                .set(WaylineJobEntity::getCollectStatus, waylineJob.getCollectStatus())
                .set(WaylineJobEntity::getUserId, waylineJob.getUserId())
                .update();
    }

    private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
        if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
            waylineRedisService.setPausedWaylineJob(dockSn, jobId);
@@ -682,7 +980,7 @@
                .workspaceId(entity.getWorkspaceId())
                .status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
                        entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
                                WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
                        WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
                .code(entity.getErrorCode())
                .beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
                .endTime(Objects.nonNull(entity.getEndTime()) ?
@@ -695,7 +993,8 @@
                .waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
                .rthAltitude(entity.getRthAltitude())
                .outOfControlAction(entity.getOutOfControlAction())
                .mediaCount(entity.getMediaCount());
                .mediaCount(entity.getMediaCount())
                .hasChildren(entity.getHasChildren());

        if (Objects.nonNull(entity.getEndTime())) {
            builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
@@ -718,7 +1017,7 @@
        Object mediaFileCount = RedisOpsUtils.hashGet(countKey, entity.getJobId());
        if (Objects.nonNull(mediaFileCount)) {
            builder.uploadedCount(((MediaFileCountDTO) mediaFileCount).getUploadedCount())
                    .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO)RedisOpsUtils.get(key)).getJobId()));
                    .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId()));
            return builder.build();
        }