国土调查的任务下发、更新、取消，成果上传

rain

2024-08-12 dbecdea3ad1768d1c7f8e88a2d3b64193c62352a

 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.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;
@@ -12,16 +14,18 @@
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.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.param.DrcModeParam;
import com.dji.sample.control.model.param.FlyToPointParam;
import com.dji.sample.control.model.param.TakeoffToPointParam;
import com.dji.sample.control.model.param.*;
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;
@@ -34,15 +38,18 @@
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.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;
@@ -102,6 +109,12 @@
    @Autowired
    private IControlService controlService;

    @Autowired
    private IDroneFlightLogMapper flightLogMapper;

    @Autowired
    private IWaylineJobBreakPointService waylineJobBreakPointService;

    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
        int id = mapper.insert(jobEntity);
        if (id <= 0) {
@@ -114,6 +127,29 @@
    public Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, String workspaceId, String username, Long beginTime, Long endTime) {
        if (Objects.isNull(param)) {
            return Optional.empty();
        }
        if (param.getJobId()!=null){
            WaylineJobEntity jobEntity = WaylineJobEntity.builder()
                    .name(param.getName())
                    .dockSn(param.getDockSn())
                    .fileId(param.getFileId())
                    .username(username)
                    .workspaceId(workspaceId)
                    .jobId(param.getJobId())
                    .beginTime(beginTime)
                    .endTime(endTime)
                    .status(WaylineJobStatusEnum.PENDING.getVal())
                    .taskType(param.getTaskType().getVal())
                    .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);
        }
        // Immediate tasks, allocating time on the backend.
        WaylineJobEntity jobEntity = WaylineJobEntity.builder()
@@ -130,9 +166,12 @@
                .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);
    }

@@ -151,6 +190,11 @@
        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();
    }

    /**
@@ -283,108 +327,6 @@
            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();
    }

@@ -421,7 +363,7 @@
        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！");
            }
        }

@@ -430,10 +372,10 @@

    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());
@@ -444,19 +386,28 @@
        // 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(url.toString())
                        .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()) {
@@ -511,7 +462,7 @@
                    .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);
@@ -592,13 +543,32 @@
    }

    @Override
    public Boolean updateJob(WaylineJobDTO dto){
    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 {
            if (dto.getStatus() == 3){
            if (dto.getStatus() == 3) {
                this.checkNextJob(dto);
            }
        }catch (SQLException e) {
        } catch (SQLException e) {
            throw new RuntimeException(e);
        }

@@ -610,19 +580,7 @@

    @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 +588,35 @@
                .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));
    }

    @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;
    }


@@ -676,7 +663,7 @@
            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()));
@@ -691,6 +678,17 @@
        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) {
@@ -769,6 +767,15 @@

    }

    @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())) {
@@ -795,55 +802,98 @@
    }

    @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) {
//        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) throws Exception {

        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(120.0);
                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
                    JSONObject jsonObject = new JSONObject();
                    jsonObject.put("targetList", targetList);
                    jsonObject.put("payloadIndex", flyAreaParam.getPayloadIndex());
                    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(targetList);
    }

        //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 +910,21 @@
        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 +939,7 @@

        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 +947,11 @@
                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());
@@ -1005,18 +1034,25 @@


    @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);
        if (!CollectionUtils.isEmpty(list)){
        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;
    }
@@ -1024,9 +1060,9 @@
    @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();
    }

@@ -1074,6 +1110,7 @@

        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())
@@ -1097,8 +1134,10 @@
                .taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))
                .waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
                .rthAltitude(entity.getRthAltitude())
                .rthMode(entity.getRthMode())
                .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()));