无人机java后台代码
blame | history | patch | commit | commitdiff | ignore whitespace
rain
2024-03-28 a83ae77a98e235cdca07a1bb167a9a43479a2c9a 
 src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java


@@ -5,6 +5,7 @@


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;


@@ -12,6 +13,7 @@


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.common.util.SpringBeanUtils;


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


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


@@ -25,6 +27,8 @@


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;


@@ -106,6 +110,9 @@


    @Autowired


    private IControlService controlService;




    @Autowired


    private IDroneFlightLogMapper flightLogMapper;




    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {


        int id = mapper.insert(jobEntity);


        if (id <= 0) {


@@ -136,7 +143,9 @@


                .rthAltitude(param.getRthAltitude())


                .mediaCount(0)


                .build();




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


            jobEntity.setJobId(param.getJobId());


        }


        return insertWaylineJob(jobEntity);


    }




@@ -332,10 +341,10 @@




    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());


@@ -346,7 +355,6 @@


        // 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())


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


@@ -355,7 +363,7 @@


                .rthAltitude(waylineJob.getRthAltitude())


                .outOfControlAction(waylineJob.getOutOfControlAction())


                .file(WaylineTaskFileDTO.builder()


                        .url(url.toString())


                        .url(MinioUrlUtils.getUrl(url))


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


                        .build())


                .build();


@@ -413,7 +421,7 @@


                    .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);


@@ -523,6 +531,18 @@


    }




    @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());




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


    }




    @Override


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




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


@@ -578,7 +598,7 @@


            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()));


@@ -894,18 +914,25 @@






    @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);


      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;


    }