执行时间

guoshilong

2023-10-12 f61c1902e30b0ab54e833960df7d2d79c8b62120

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

@@ -12,7 +12,14 @@
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.param.DrcModeParam;
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.receiver.OsdDockReceiver;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.IDeviceService;
import com.dji.sample.media.model.MediaFileCountDTO;
import com.dji.sample.media.model.MediaMethodEnum;
@@ -20,12 +27,13 @@
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.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.model.param.WaylineJobQueryParam;
import com.dji.sample.wayline.service.IWaylineFileService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
@@ -37,6 +45,7 @@
import org.springframework.transaction.annotation.Isolation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
import org.springframework.util.StringUtils;

import java.net.URL;
import java.sql.SQLException;
@@ -72,6 +81,15 @@
    @Autowired
    private IFileService fileService;

    @Autowired
    private IDrcService drcService;

    @Autowired
    private IDeviceRedisService deviceRedisService;

    @Autowired
    private IWaylineRedisService waylineRedisService;

    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
        int id = mapper.insert(jobEntity);
        if (id <= 0) {
@@ -96,8 +114,8 @@
                .beginTime(beginTime)
                .endTime(endTime)
                .status(WaylineJobStatusEnum.PENDING.getVal())
                .taskType(param.getTaskType())
                .waylineType(param.getWaylineType())
                .taskType(param.getTaskType().getVal())
                .waylineType(param.getWaylineType().getVal())
                .outOfControlAction(param.getOutOfControlAction())
                .rthAltitude(param.getRthAltitude())
                .mediaCount(0)
@@ -123,31 +141,175 @@
        return this.insertWaylineJob(jobEntity);
    }

    /**
     * 对于即时任务，以服务器时间为准。
     * @param param
     */
    private void fillImmediateTime(CreateJobParam param) {
        if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType()) {
            return;
        }
        long now = System.currentTimeMillis() / 1000 - 10;
//        param.setTaskDays(Collections.singletonList(now));
//        param.setTaskPeriods(Collections.singletonList(Collections.singletonList(now)));
        param.setTaskDays(List.of(now));
        param.setTaskPeriods(List.of(List.of(now)));
    }

    @Override
    public ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {
        if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == param.getTaskType()) {
            param.setExecuteTime(System.currentTimeMillis());
        }
        Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param,
                customClaim.getWorkspaceId(), customClaim.getUsername(),
                param.getExecuteTime(), param.getExecuteTime());
        if (waylineJobOpt.isEmpty()) {
            throw new SQLException("Failed to create wayline job.");
        }
        WaylineJobDTO waylineJob = waylineJobOpt.get();

        boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn());
        //当重复定时和连续执行时走这个逻辑
        if (param.getTaskType().getVal() == WaylineTaskTypeEnum.CONDITION.getVal()){





            //保存数据
            WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
                    .jobId(UUID.randomUUID().toString())
                    .name(param.getName())
                    .dockSn(param.getDockSn())
                    .fileId(param.getFileId())
                    .username(customClaim.getUsername())
                    .workspaceId(customClaim.getWorkspaceId())


                    .beginTime(param.getTaskDays().get(0)*1000)
                    .endTime(param.getTaskDays().get(1)*1000)
                    .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();

            Boolean insert = mapper.insert(waylineJobEntity)>0;

            return ResponseResult.success(insert);
        }

        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 && 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("任务已过期");
                }
                Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
                if (waylineJobOpt.isEmpty()) {
                    throw new SQLException("任务创建失败");
                }
                WaylineJobDTO waylineJob = waylineJobOpt.get();
                // If it is a conditional task type, add conditions to the job parameters.
                //如果是条件任务类型，需要在任务参数中添加条件。
                addPreparedJob(waylineJob, param, beginTime, endTime);

                ResponseResult response = this.publishOneFlightTask(waylineJob);
                if (ResponseResult.CODE_SUCCESS != response.getCode()) {
                    return response;
                }
            }
        }
        return ResponseResult.success();
    }

    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);
        }
        // value: {workspace_id}:{dock_sn}:{job_id}
        boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
        if (!isAdd) {
            throw new RuntimeException("创建任务失败。");
        }
    }

    public ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {

        boolean isSuccess = this.prepareFlightTask(waylineJob);
        if (!isSuccess) {
            return ResponseResult.error("任务准备失败");
        }

        // Issue an immediate task execution command.
        //发出立即任务执行命令
        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.success();
    }

    @Override
    public Boolean publishFlightTask(WaylineJobEntity waylineJobEntity) {
        WaylineJobDTO waylineJob = new WaylineJobDTO();


        waylineJob.setConditions(
                WaylineTaskConditionDTO.builder()
                        .executableConditions(null)
                        .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                .batteryCapacity(waylineJobEntity.getBatteryCapacity())

                                .build())
                        .build());








        return null;
    }

    private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {

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

        // get wayline file
        Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
        if (waylineFile.isEmpty()) {
            throw new SQLException("Wayline file doesn't exist.");
            throw new SQLException("航线文件不存在。");
        }

        // get file url
        //获取航线文件地址
        URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());

        WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
@@ -163,19 +325,21 @@
                        .build())
                .build();

        String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
                waylineJob.getDockSn() + TopicConst.SERVICES_SUF;
        CommonTopicResponse<Object> response = CommonTopicResponse.builder()
                .tid(UUID.randomUUID().toString())
                .bid(waylineJob.getJobId())
                .timestamp(System.currentTimeMillis())
                .data(flightTask)
                .method(WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod())
                .build();
        //当任务类型为条件时
        if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
            if (Objects.isNull(waylineJob.getConditions())) {
                throw new IllegalArgumentException();
            }
            flightTask.setReadyConditions(waylineJob.getConditions().getReadyConditions());
            flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
        }

        ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
        //发布飞行指令
        ServiceReply serviceReply = messageSender.publishServicesTopic(
                waylineJob.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod(), flightTask, waylineJob.getJobId());
        if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
            log.info("Prepare task ====> Error code: {}", serviceReply.getResult());
            //飞行失败，更新数据库信息
            this.updateJob(WaylineJobDTO.builder()
                    .workspaceId(waylineJob.getWorkspaceId())
                    .jobId(waylineJob.getJobId())
@@ -183,26 +347,9 @@
                    .status(WaylineJobStatusEnum.FAILED.getVal())
                    .completedTime(LocalDateTime.now())
                    .code(serviceReply.getResult()).build());
            return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult());
            return false;
        }

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

        if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
            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.");
            }
        }

        return ResponseResult.success();
        return true;
    }

    @Override
@@ -210,28 +357,19 @@
        // get job
        Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(workspaceId, jobId);
        if (waylineJob.isEmpty()) {
            throw new IllegalArgumentException("Job doesn't exist.");
            throw new IllegalArgumentException("任务不存在");
        }

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

        WaylineJobDTO job = waylineJob.get();
        WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder().flightId(jobId).build();

        String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
                job.getDockSn() + TopicConst.SERVICES_SUF;
        CommonTopicResponse<Object> response = CommonTopicResponse.builder()
                .tid(UUID.randomUUID().toString())
                .bid(jobId)
                .timestamp(System.currentTimeMillis())
                .data(flightTask)
                .method(WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod())
                .build();

        ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
        ServiceReply serviceReply = messageSender.publishServicesTopic(
                job.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod(), flightTask, jobId);
        if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
            log.info("Execute job ====> Error code: {}", serviceReply.getResult());
            this.updateJob(WaylineJobDTO.builder()
@@ -240,6 +378,11 @@
                    .status(WaylineJobStatusEnum.FAILED.getVal())
                    .completedTime(LocalDateTime.now())
                    .code(serviceReply.getResult()).build());
            // The conditional task fails and enters the blocking status.
            if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()
                    && WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
                waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
            }
            return false;
        }

@@ -248,9 +391,7 @@
                .executeTime(LocalDateTime.now())
                .status(WaylineJobStatusEnum.IN_PROGRESS.getVal())
                .build());
        RedisOpsUtils.setWithExpire(RedisConst.WAYLINE_JOB_RUNNING_PREFIX + job.getDockSn(),
                EventsReceiver.<WaylineTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build(),
                RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
        waylineRedisService.setRunningWaylineJob(job.getDockSn(), EventsReceiver.<WaylineTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build());
        return true;
    }

@@ -262,8 +403,7 @@
        // Check if the task status is correct.
        boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty() ;
        if (isErr) {
            throw new IllegalArgumentException("These tasks have an incorrect status and cannot be canceled. "
                    + Arrays.toString(jobIds.toArray()));
            throw new IllegalArgumentException("以下任务状态不正确，不能取消" + Arrays.toString(jobIds.toArray()));
        }

        // Group job id by dock sn.
@@ -275,24 +415,16 @@
    }

    public void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
        boolean isOnline = deviceService.checkDeviceOnline(dockSn);
        boolean isOnline = deviceRedisService.checkDeviceOnline(dockSn);
        if (!isOnline) {
            throw new RuntimeException("Dock is offline.");
            throw new RuntimeException("设备离线");
        }
        String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF;

        CommonTopicResponse<Object> response = CommonTopicResponse.builder()
                .tid(UUID.randomUUID().toString())
                .bid(UUID.randomUUID().toString())
                .timestamp(System.currentTimeMillis())
                .data(Map.of(MapKeyConst.FLIGHT_IDS, jobIds))
                .method(WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod())
                .build();

        ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
        ServiceReply serviceReply = messageSender.publishServicesTopic(
                dockSn, WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod(), Map.of(MapKeyConst.FLIGHT_IDS, jobIds));
        if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
            log.info("Cancel job ====> Error code: {}", serviceReply.getResult());
            throw new RuntimeException("Failed to cancel the wayline job of " + dockSn);
            throw new RuntimeException("航路作业取消失败 " + dockSn);
        }

        for (String jobId : jobIds) {
@@ -302,7 +434,6 @@
                    .status(WaylineJobStatusEnum.CANCEL.getVal())
                    .completedTime(LocalDateTime.now())
                    .build());
            RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, workspaceId + RedisConst.DELIMITER + dockSn + RedisConst.DELIMITER + jobId);
        }

    }
@@ -312,8 +443,7 @@
                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());
@@ -336,12 +466,22 @@
    }

    @Override
    public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize) {
        Page<WaylineJobEntity> pageData = mapper.selectPage(
                new Page<WaylineJobEntity>(page, pageSize),
                new LambdaQueryWrapper<WaylineJobEntity>()
                        .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
                        .orderByDesc(WaylineJobEntity::getId));
    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()
                .map(this::entity2Dto)
@@ -366,8 +506,11 @@

        String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString() + TopicConst._REPLY_SUF;

        DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + receiver.getGateway());
        Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(device.getWorkspaceId(), jobId);
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
        if (deviceOpt.isEmpty()) {
            return;
        }
        Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(deviceOpt.get().getWorkspaceId(), jobId);
        if (waylineJobOpt.isEmpty()) {
            builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
            messageSender.publish(topic, builder.build());
@@ -415,21 +558,14 @@

        String dockSn = jobOpt.get().getDockSn();
        String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + dockSn;
        if (RedisOpsUtils.checkExist(key) &&
                jobId.equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())) {
        if (RedisOpsUtils.checkExist(key) && jobId.equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())) {
            return;
        }

        ServiceReply reply = messageSender.publishWithReply(TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF,
                CommonTopicResponse.builder()
                        .tid(UUID.randomUUID().toString())
                        .bid(UUID.randomUUID().toString())
                        .timestamp(System.currentTimeMillis())
                        .method(MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod())
                        .data(Map.of(MapKeyConst.FLIGHT_ID, jobId))
                        .build());
        ServiceReply reply = messageSender.publishServicesTopic(
                dockSn, MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod(), Map.of(MapKeyConst.FLIGHT_ID, jobId));
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("Failed to set media job upload priority. Error Code: " + reply.getResult());
            throw new RuntimeException("设置媒体作业上传优先级失败. 错误码: " + reply.getResult());
        }
    }

@@ -458,13 +594,98 @@
                .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())
                .parentId(dto.getParentId())
                .build();
    }

    @Override
    public void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param) {
        Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(workspaceId, jobId);
        if (waylineJobOpt.isEmpty()) {
            throw new RuntimeException("任务不存在");
        }
        WaylineJobDTO waylineJob = waylineJobOpt.get();
        WaylineJobStatusEnum statusEnum = this.getWaylineState(waylineJob.getDockSn());
        if (statusEnum.getEnd() || WaylineJobStatusEnum.PENDING == statusEnum) {
            throw new RuntimeException("航路线作业状态不匹配，无法执行操作.");
        }

        switch (param.getStatus()) {
            case PAUSE:
                pauseJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
                break;
            case RESUME:
                resumeJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
                break;
        }

    }

    public WaylineJobStatusEnum getWaylineState(String dockSn) {
        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
        if (dockOpt.isEmpty() || !StringUtils.hasText(dockOpt.get().getChildDeviceSn())) {
            return WaylineJobStatusEnum.UNKNOWN;
        }
        Optional<OsdDockReceiver> dockOsdOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class);
        Optional<OsdSubDeviceReceiver> deviceOsdOpt = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
        if (dockOsdOpt.isEmpty() || deviceOsdOpt.isEmpty() || DockModeCodeEnum.WORKING != dockOsdOpt.get().getModeCode()) {
            return WaylineJobStatusEnum.UNKNOWN;
        }

        OsdSubDeviceReceiver osdDevice = deviceOsdOpt.get();
        if (DeviceModeCodeEnum.WAYLINE == osdDevice.getModeCode()
                || DeviceModeCodeEnum.MANUAL == osdDevice.getModeCode()
                || DeviceModeCodeEnum.TAKEOFF_AUTO == osdDevice.getModeCode()) {
            if (StringUtils.hasText(waylineRedisService.getPausedWaylineJobId(dockSn))) {
                return WaylineJobStatusEnum.PAUSED;
            }
            if (waylineRedisService.getRunningWaylineJob(dockSn).isPresent()) {
                return WaylineJobStatusEnum.IN_PROGRESS;
            }
        }
        return WaylineJobStatusEnum.UNKNOWN;
    }

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

        ServiceReply reply = messageSender.publishServicesTopic(
                dockSn, WaylineMethodEnum.FLIGHT_TASK_PAUSE.getMethod(), "", jobId);
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("未能恢复航路作业。错误码： " + reply.getResult());
        }
        waylineRedisService.delRunningWaylineJob(dockSn);
        waylineRedisService.setPausedWaylineJob(dockSn, jobId);
    }

    private void resumeJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
        Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningDataOpt = waylineRedisService.getRunningWaylineJob(dockSn);
        if (WaylineJobStatusEnum.IN_PROGRESS == statusEnum && jobId.equals(runningDataOpt.map(EventsReceiver::getSn).get())) {
            waylineRedisService.setRunningWaylineJob(dockSn, runningDataOpt.get());
            return;
        }
        ServiceReply reply = messageSender.publishServicesTopic(
                dockSn, WaylineMethodEnum.FLIGHT_TASK_RESUME.getMethod(), "", jobId);
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("未能恢复航路作业。错误码：: " + reply.getResult());
        }

        runningDataOpt.ifPresent(runningData -> waylineRedisService.setRunningWaylineJob(dockSn, runningData));
        waylineRedisService.delPausedWaylineJob(dockSn);

        if (deviceService.checkDockDrcMode(dockSn)) {
            drcService.deviceDrcExit(workspaceId, DrcModeParam.builder().dockSn(dockSn)
                    .clientId(drcService.getDrcModeInRedis(dockSn)).build());
        }

    }

    private WaylineJobDTO entity2Dto(WaylineJobEntity entity) {
@@ -484,8 +705,8 @@
                .username(entity.getUsername())
                .workspaceId(entity.getWorkspaceId())
                .status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
                        RedisOpsUtils.checkExist(RedisConst.WAYLINE_JOB_PAUSED_PREFIX + entity.getJobId()) ?
                        WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
                        entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
                                WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
                .code(entity.getErrorCode())
                .beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
                .endTime(Objects.nonNull(entity.getEndTime()) ?
@@ -494,8 +715,8 @@
                        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());
@@ -503,11 +724,12 @@
        if (Objects.nonNull(entity.getEndTime())) {
            builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
        }
        if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() && RedisOpsUtils.getExpire(entity.getJobId()) > 0) {
            EventsReceiver<WaylineTaskProgressReceiver> taskProgress = (EventsReceiver<WaylineTaskProgressReceiver>) RedisOpsUtils.get(RedisConst.WAYLINE_JOB_RUNNING_PREFIX + entity.getDockSn());
            if (Objects.nonNull(taskProgress.getOutput()) && Objects.nonNull(taskProgress.getOutput().getProgress())) {
                builder.progress(taskProgress.getOutput().getProgress().getPercent());
            }
        if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus()) {
            builder.progress(waylineRedisService.getRunningWaylineJob(entity.getDockSn())
                    .map(EventsReceiver::getOutput)
                    .map(WaylineTaskProgressReceiver::getProgress)
                    .map(WaylineTaskProgress::getPercent)
                    .orElse(null));
        }

        if (entity.getMediaCount() == 0) {