drone/drone-java.git

			@@ -27,10 +27,7 @@
			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.WaylineErrorCodeEnum;
			import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
			import com.dji.sample.wayline.model.enums.WaylineMethodEnum;
			import com.dji.sample.wayline.model.enums.WaylineTaskTypeEnum;
			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.service.IWaylineFileService;
			@@ -152,71 +149,67 @@
			return;
			}
			long now = System.currentTimeMillis() / 1000;
			if (CollectionUtils.isEmpty(param.getTaskDays())) {
			param.setTaskDays(List.of(now));
			}
			if (CollectionUtils.isEmpty(param.getTaskPeriods())) {
			param.setTaskPeriods(List.of(List.of(now)));
			}
			param.setTaskDays(Collections.singletonList(now));
			param.setTaskPeriods(Collections.singletonList(Collections.singletonList(now)));
			}

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

			param.getTaskDays().sort((a, b) -> (int) (a - b));
			param.getTaskPeriods().sort((a, b) -> (int) (a.get(0) - b.get(0)));
			for (Long taskDay : param.getTaskDays()) {
			LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(taskDay), ZoneId.systemDefault());
			for (List<Long> taskPeriod : param.getTaskPeriods()) {
			long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(0)), ZoneId.systemDefault()))
			.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
			long endTime = taskPeriod.size() > 1 ?
			long endTime = taskPeriod.size() > 1 && Objects.nonNull(taskPeriod.get(1)) ?
			LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(1)), ZoneId.systemDefault()))
			.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
			if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
			return ResponseResult.error("The task has expired.");
			}
			Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
			if (waylineJobOpt.isEmpty()) {
			throw new SQLException("Failed to create wayline job.");
			return ResponseResult.error("Failed to create wayline job.");
			}

			WaylineJobDTO waylineJob = waylineJobOpt.get();
			// If it is a conditional task type, add conditions to the job parameters.
			addConditions(waylineJob, param, beginTime, endTime);
			if (WaylineTaskTypeEnum.IMMEDIATE == param.getTaskType()) {
			return this.publishOneFlightTask(waylineJob);
			}

			return this.publishOneFlightTask(waylineJob);
			// If it is a conditional task type, add conditions to the job parameters.
			addPreparedJob(waylineJob, param, beginTime, endTime);
			}
			}
			return ResponseResult.error();
			return ResponseResult.success();
			}

			private void addConditions(WaylineJobDTO waylineJob, CreateJobParam param, Long beginTime, Long endTime) {
			if (WaylineTaskTypeEnum.CONDITION != param.getTaskType()) {
			return;
			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)
			.readyConditions(WaylineTaskReadyConditionDTO.builder()
			.batteryCapacity(param.getMinBatteryCapacity())
			.beginTime(beginTime)
			.endTime(endTime)
			.build())
			.build());

			waylineRedisService.setConditionalWaylineJob(waylineJob);
			}

			waylineJob.setConditions(
			WaylineTaskConditionDTO.builder()
			.executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ?
			WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
			.readyConditions(WaylineTaskReadyConditionDTO.builder()
			.batteryCapacity(param.getMinBatteryCapacity())
			.beginTime(beginTime)
			.endTime(endTime)
			.build())
			.build());

			waylineRedisService.setConditionalWaylineJob(waylineJob);
			// key: wayline_job_condition, value: {workspace_id}:{dock_sn}:{job_id}
			boolean isAdd = waylineRedisService.addPrepareConditionalWaylineJob(waylineJob);
			// value: {workspace_id}:{dock_sn}:{job_id}
			boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
			if (!isAdd) {
			throw new RuntimeException("Failed to create conditional job.");
			throw new RuntimeException("Failed to create prepare job.");
			}
			}

			public ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {

			boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
			if (!isOnline) {
			throw new RuntimeException("Dock is offline.");
			}

			boolean isSuccess = this.prepareFlightTask(waylineJob);
			if (!isSuccess) {
			@@ -224,19 +217,10 @@
			}

			// Issue an immediate task execution command.
			if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
			if (!executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId())) {
			if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
			boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());
			if (!isExecuted) {
			return ResponseResult.error("Failed to execute job.");
			}
			}

			if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
			// key: wayline_job_timed, value: {workspace_id}:{dock_sn}:{job_id}
			boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
			waylineJob.getWorkspaceId() + RedisConst.DELIMITER + waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(),
			waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
			if (!isAdd) {
			return ResponseResult.error("Failed to create scheduled job.");
			}
			}

			@@ -244,6 +228,12 @@
			}

			private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {

			boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
			if (!isOnline) {
			throw new RuntimeException("Dock is offline.");
			}

			// get wayline file
			Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
			if (waylineFile.isEmpty()) {
			@@ -266,7 +256,7 @@
			.build())
			.build();

			if (WaylineTaskTypeEnum.CONDITION.getVal() == waylineJob.getTaskType()) {
			if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
			if (Objects.isNull(waylineJob.getConditions())) {
			throw new IllegalArgumentException();
			}
			@@ -317,7 +307,7 @@
			.completedTime(LocalDateTime.now())
			.code(serviceReply.getResult()).build());
			// The conditional task fails and enters the blocking status.
			if (WaylineTaskTypeEnum.CONDITION.getVal() == job.getTaskType()
			if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()
			&& WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
			waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
			}
			@@ -372,7 +362,6 @@
			.status(WaylineJobStatusEnum.CANCEL.getVal())
			.completedTime(LocalDateTime.now())
			.build());
			RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, workspaceId + RedisConst.DELIMITER + dockSn + RedisConst.DELIMITER + jobId);
			}

			}
			@@ -382,8 +371,7 @@
			new LambdaQueryWrapper<WaylineJobEntity>()
			.eq(WaylineJobEntity::getWorkspaceId, workspaceId)
			.eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
			.and(!CollectionUtils.isEmpty(jobIds),
			wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id).or())))
			.in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
			.stream()
			.map(this::entity2Dto)
			.collect(Collectors.toList());
			@@ -524,8 +512,8 @@
			.fileId(dto.getFileId())
			.dockSn(dto.getDockSn())
			.workspaceId(dto.getWorkspaceId())
			.taskType(dto.getTaskType())
			.waylineType(dto.getWaylineType())
			.taskType(Optional.ofNullable(dto.getTaskType()).map(WaylineTaskTypeEnum::getVal).orElse(null))
			.waylineType(Optional.ofNullable(dto.getWaylineType()).map(WaylineTemplateTypeEnum::getVal).orElse(null))
			.username(dto.getUsername())
			.rthAltitude(dto.getRthAltitude())
			.outOfControlAction(dto.getOutOfControlAction())
			@@ -645,8 +633,8 @@
			LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getExecuteTime()), ZoneId.systemDefault()) : null)
			.completedTime(WaylineJobStatusEnum.find(entity.getStatus()).getEnd() ?
			LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getUpdateTime()), ZoneId.systemDefault()) : null)
			.taskType(entity.getTaskType())
			.waylineType(entity.getWaylineType())
			.taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))
			.waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
			.rthAltitude(entity.getRthAltitude())
			.outOfControlAction(entity.getOutOfControlAction())
			.mediaCount(entity.getMediaCount());