无人机java后台代码
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2024-08-21 2db1aa88e8ab53096a936163d686b90d8e056a99 
 src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java


@@ -15,15 +15,11 @@


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;


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.enums.CameraModeEnum;


import com.dji.sample.control.model.enums.DroneAuthorityEnum;


import com.dji.sample.control.model.enums.PayloadCommandsEnum;


import com.dji.sample.control.model.param.*;


import com.dji.sample.control.service.IControlService;


import com.dji.sample.control.service.IDrcService;


@@ -53,6 +49,7 @@


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;


@@ -66,12 +63,15 @@


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.*;


import java.util.*;


import java.util.concurrent.ConcurrentHashMap;


import java.util.stream.Collectors;




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


import static com.dji.sample.component.mqtt.model.TopicConst._REPLY_SUF;




/**


 * @author sean


@@ -132,6 +132,29 @@


        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()


                .name(param.getName())


@@ -147,9 +170,10 @@


                .waylineType(param.getWaylineType().getVal())


                .outOfControlAction(param.getOutOfControlAction())


                .rthAltitude(param.getRthAltitude())


                .rthMode(param.getRthMode())


                .mediaCount(0)


                .build();


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


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


            jobEntity.setJobId(param.getJobId());


        }


        return insertWaylineJob(jobEntity);


@@ -170,6 +194,11 @@


        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();


    }




    /**


@@ -366,6 +395,7 @@


                .taskType(waylineJob.getTaskType())


                .waylineType(waylineJob.getWaylineType())


                .rthAltitude(waylineJob.getRthAltitude())


                .rthMode(waylineJob.getRthMode())


                .outOfControlAction(waylineJob.getOutOfControlAction())


                .file(WaylineTaskFileDTO.builder()


                        .url(MinioUrlUtils.getUrl(url))


@@ -517,7 +547,7 @@


    }




    @Override


    public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId,Boolean isBreakPoint) {


    public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId, Boolean isBreakPoint) {


        WaylineJobEntity jobEntity = mapper.selectOne(


                new LambdaQueryWrapper<WaylineJobEntity>()


                        .eq(WaylineJobEntity::getWorkspaceId, workspaceId)


@@ -566,7 +596,7 @@




    @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);


        Page<WaylineJobEntity> pageData = mapper.getPageNew(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId, order);




        List<WaylineJobDTO> records = pageData.getRecords()


                .stream()


@@ -575,7 +605,7 @@




        // 是否需要断点续飞


        records.forEach(wjd -> wjd.setBreakPoint(waylineJobBreakPointService.count(


                new LambdaQueryWrapper<WaylineJobBreakPointEntity>().eq(WaylineJobBreakPointEntity::getJobId,wjd.getJobId())) > 0));


                new LambdaQueryWrapper<WaylineJobBreakPointEntity>().eq(WaylineJobBreakPointEntity::getJobId, wjd.getJobId())) > 0));






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


@@ -652,6 +682,89 @@


        messageSender.publish(topic, builder.build());




    }




    /**


     * 机场的获取离线地图协议请求回复


     * @param receiver


     */


    @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_OFFLINE_MAP_GET, outputChannel = ChannelName.OUTBOUND)


    public void offlineMapGet(CommonTopicReceiver receiver) {


        log.info("接收到机场的获取离线地图协议消息,编号：{}",receiver.getGateway());


        // 查询在线设备，不存在就不发送了


        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());


        if (deviceOpt.isEmpty()) {


            return;


        }


        // 组装数据


        CommonTopicResponse<Object> builder = CommonTopicResponse.builder()


                .tid(receiver.getTid())


                .bid(receiver.getBid())


                .method(RequestsMethodEnum.OFFLINE_MAP_GET.getMethod())


                .timestamp(System.currentTimeMillis())


                .build();


        // 组装 data 数据


        Map<String, Integer> result = new ConcurrentHashMap<>(1);


        result.put("result", 0);


        builder.setData(result);


        log.info("回复机场的获取离线地图协议消息：{},{}",BASIC_PRE + PRODUCT +receiver.getGateway() + REQUESTS_SUF + _REPLY_SUF, builder );


        // 回复消息


        messageSender.publish(


                new StringBuilder()


                        .append(THING_MODEL_PRE)


                        .append(PRODUCT)


                        .append(receiver.getGateway())


                        .append(REQUESTS_SUF)


                        .append(_REPLY_SUF)


                        .toString(),


                builder);


    }




    /**


     * 自定义飞行区文件获取协议请求回复


     * @param receiver


     */


    @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_AREAS_GET, outputChannel = ChannelName.OUTBOUND)


    public void flightAreasGet(CommonTopicReceiver receiver) {


        log.info("接收到自定义飞行区文件获取消息,编号：{}",receiver.getGateway());


        // 查询在线设备，不存在就不发送了


        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());


        if (deviceOpt.isEmpty()) {


            return;


        }


        // 组装数据


        CommonTopicResponse<Object> builder = CommonTopicResponse.builder()


                .tid(receiver.getTid())


                .bid(receiver.getBid())


                .method(RequestsMethodEnum.FLIGHT_AREAS_GET.getMethod())


                .timestamp(System.currentTimeMillis())


                .build();


        // 组装 data 数据


        Map<String, Integer> result = new ConcurrentHashMap<>(1);


        result.put("result", 0);


        builder.setData(result);


        log.info("回复自定义飞行区文件获取消息：{},{}",BASIC_PRE + PRODUCT +receiver.getGateway() + REQUESTS_SUF + _REPLY_SUF, builder );


        // 回复消息


        messageSender.publish(


                new StringBuilder()


                        .append(THING_MODEL_PRE)


                        .append(PRODUCT)


                        .append(receiver.getGateway())


                        .append(REQUESTS_SUF)


                        .append(_REPLY_SUF)


                        .toString(),


                builder);


    }




    @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) {


@@ -730,6 +843,15 @@




    }




    @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())) {


@@ -754,6 +876,41 @@


        }


        return WaylineJobStatusEnum.UNKNOWN;


    }




    @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) {


@@ -800,10 +957,10 @@


                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);


                    jsonObject.put("targetList", targetList);


                    jsonObject.put("payloadIndex", flyAreaParam.getPayloadIndex());


                    jsonObject.put("curIndex", 0);


                    RedisOpsUtils.set("tuban:" + sn, jsonObject);


                }


                break;


            }


@@ -953,22 +1110,22 @@






    @Override


    public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime,String deviceSn) {


    public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime, String deviceSn) {


        WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();


        List<DroneFlightLogEntity>  list =  flightLogMapper.patrolStatistics(workspaceId,queryTime,deviceSn);


        List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId, queryTime, deviceSn);


        if (!CollectionUtils.isEmpty(list)) {


            waylineJobCountDTO.setTotalNumber(list.size());


            long totalTime = list.stream().filter(task -> task.getEndTime()!= null && task.getStartTime()!= null).mapToLong(s -> s.getEndTime() - s.getStartTime()).sum() / 1000;


            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;


            waylineJobCountDTO.setTotalDuration( String.format("%02d h %02d min", h, m));


            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;


                if (totalFlightDistance != null) {


                    sum += totalFlightDistance;


                }


            }


            waylineJobCountDTO.setTotalDistance((int) sum);


@@ -1029,6 +1186,7 @@




        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())


@@ -1052,6 +1210,7 @@


                .taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))


                .waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))


                .rthAltitude(entity.getRthAltitude())


                .rthMode(entity.getRthMode())


                .outOfControlAction(entity.getOutOfControlAction())


                .mediaCount(entity.getMediaCount())


                .hasChildren(entity.getHasChildren());