无人机java后台代码
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guoshilong
2023-11-15 923a5e9fdfcfcc765606bce6fa7f99cb3717dcbe 
 src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java


@@ -1,10 +1,10 @@


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.update.LambdaUpdateWrapper;


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


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


import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;


import com.baomidou.mybatisplus.extension.plugins.pagination.Page;


import com.dji.sample.common.error.CommonErrorEnum;


@@ -22,6 +22,7 @@


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;


@@ -34,7 +35,7 @@


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.WaylineJobEntity;


@@ -56,6 +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.*;


@@ -283,108 +285,6 @@


            return response;


        }






        //新增多条数据


        //开始日期


//        String parentId = "";


//        for (int i = 0; i < param.getExecuteStartTimeArr().size(); i++) {


//            List<Long> timeArr = param.getExecuteStartTimeArr().get(i);


//


//            long beginTimeLong = 0L;


//            long endTimeLong = 0L;


//            LocalDateTime beginTime = null;


//            if (i == 0) {


//                //父,开始-结束为整个区间


//                //开始日期


//                LocalDate startDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(0)), ZoneId.systemDefault());


//                beginTimeLong = 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());


//                endTimeLong = LocalDateTime.of(endDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(param.getExecuteStartTimeArr().size() - 1).get(0)), ZoneId.systemDefault()))


//                        .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();


//            } else {


//                //子,开始-结束为当前区间


//                //开始日期


//                LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());


//                //任务执行开始时间


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


//                //任务结束时间


//                LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?


//                        LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;


//


//                beginTimeLong = beginTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();


//                endTimeLong = endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();


//            }


//


//


//            //保存数据


//            WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()


//                    .parentId(parentId.equals("") ? null : parentId)


//                    .jobId(UUID.randomUUID().toString())


//                    .name(param.getName())


//                    .dockSn(param.getDockSn())


//                    .fileId(param.getFileId())


//                    .username(customClaim.getUsername())


//                    .workspaceId(customClaim.getWorkspaceId())


//


//                    .beginTime(beginTimeLong)


//                    .endTime(endTimeLong)


//                    .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");


//            }


//


//


//            if (i == 0) {


//                //把第一个当作父


//                parentId = waylineJobEntity.getId().toString();


//            }


//            WaylineJobDTO waylineJob = waylineJobOpt.get();


//


//            //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(beginTimeLong)


//                                        .endTime(endTimeLong)


//                                        .build())


//                                .build());


//            } else {


//                waylineJob.setBeginTime(beginTime);


//            }


//


//            if (waylineJobOpt.isEmpty()) {


//                throw new SQLException("任务创建失败");


//            }


//


//            ResponseResult response = this.publishOneFlightTask(waylineJob);


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


//                return response;


//            }


//        }




        return ResponseResult.success();


    }




@@ -592,13 +492,13 @@


    }




    @Override


    public Boolean updateJob(WaylineJobDTO dto){


    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);


        }




@@ -610,19 +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);






        List<WaylineJobDTO> records = pageData.getRecords()


                .stream()


@@ -630,6 +518,18 @@


                .collect(Collectors.toList());




        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;


    }






@@ -796,54 +696,70 @@




    @Override


    public WaylineJobEntity getLatestJob(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {


//        List<WaylineJobEntity> waylineJobEntities = mapper.selectList(new LambdaQueryWrapper<>(WaylineJobEntity.class)


//                .eq(WaylineJobEntity::getWorkspaceId, workspaceId)


//                .eq(WaylineJobEntity::getDockSn, waylineJobQueryParam.getDockSn())


//                //获取状态为待执行


//                        .eq(WaylineJobEntity::getStatus,1)


//                .orderByDesc(WaylineJobEntity::getBeginTime)


//        );




        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) {




        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(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;


            }


        });


        }




        //按距离从近到远排序


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


        return ResponseResult.success();


    }




        //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());


@@ -860,47 +776,21 @@


        takeoffToPointParam.setMaxSpeed(10.0);


        takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);




        //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());






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


        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");


        }


@@ -915,7 +805,7 @@




        long currentTime = System.currentTimeMillis();


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


            Long startTime = Long.valueOf(executeStartTimeArr.get(i).get(0));


            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


@@ -923,6 +813,11 @@


                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());


@@ -1005,10 +900,10 @@






    @Override


    public WaylineJobCountDTO patrolStatistics(String workspaceId,String queryTime) {


    public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime) {


        WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();


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


        if (!CollectionUtils.isEmpty(list)){


        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();


@@ -1024,9 +919,9 @@


    @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();


    }




@@ -1098,7 +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()));