图斑距离计算，定时任务添加逻辑

guoshilong

2023-11-13 cbf5045d84088891ef0696b189e1f8af6a653bad

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

@@ -1,7 +1,9 @@
package com.dji.sample.wayline.service.impl;

import com.alibaba.druid.stat.TableStat;
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.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.CustomClaim;
@@ -12,11 +14,17 @@
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.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 +32,12 @@
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.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;
@@ -89,6 +96,9 @@

    @Autowired
    private IWaylineRedisService waylineRedisService;

    @Autowired
    private IControlService controlService;

    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
        int id = mapper.insert(jobEntity);
@@ -238,22 +248,18 @@

        WaylineJobDTO waylineJob = waylineJobOpt.get();

        //循环执行时间
        for (List<Long> timeArr : param.getExecuteStartTimeArr()) {
        //存一条记录,
        List<Long> timeArr = param.getExecuteStartTimeArr().get(0);

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

            long endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                    LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
                            .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
        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 < System.currentTimeMillis()) {
                //中断当前循环执行下一个
                continue;
        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。
@@ -262,10 +268,12 @@
                                .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                                .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                        .batteryCapacity(param.getMinBatteryCapacity())
                                        .beginTime(beginTime)
                                        .endTime(endTime)
                                    .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);
@@ -273,7 +281,108 @@
                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();
    }

@@ -482,6 +591,16 @@

    @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;
@@ -689,6 +808,200 @@
       return waylineJobEntity;
    }

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

        List<List<PointPOJO>> areaList = flyAreaParam.getAreaList();
        PointPOJO dockPoint = flyAreaParam.getDockPoint();
        Double radius = flyAreaParam.getRadius();

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

        //根据区域获取中心点
        areaList.forEach(area -> {
            PointPOJO centerPoint = GeoUtils.getCenterPoint(area);
            centerPointList.add(centerPoint);
        });

        //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());

            //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);
            }
        });

        //按距离从近到远排序
        targetList.sort(Comparator.comparing(PointPOJO::getDistance));

        //后续为无人机操作逻辑
        //先飞到空中
        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);

        //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();
    }

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

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


        WaylineJobEntity currentJob = mapper.selectOne(Wrappers.query(params));
        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 = Long.valueOf(executeStartTimeArr.get(i).get(0));
            //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;
            }
        }

        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();
    }


    private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
        if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
            waylineRedisService.setPausedWaylineJob(dockSn, jobId);