执行时间

guoshilong

2023-10-12 f61c1902e30b0ab54e833960df7d2d79c8b62120

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

@@ -30,6 +30,7 @@
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;
@@ -141,24 +142,66 @@
    }

    /**
     * For immediate tasks, the server time shall prevail.
     * 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;
        param.setTaskDays(Collections.singletonList(now));
        param.setTaskPeriods(Collections.singletonList(Collections.singletonList(now)));
        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 {

        //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)));
//        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()) {
@@ -168,20 +211,21 @@
                        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.");
                    return ResponseResult.error("任务已过期");
                }
                Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
                if (waylineJobOpt.isEmpty()) {
                    return ResponseResult.error("Failed to create wayline job.");
                    throw new SQLException("任务创建失败");
                }

                WaylineJobDTO waylineJob = waylineJobOpt.get();
                if (WaylineTaskTypeEnum.IMMEDIATE == param.getTaskType()) {
                    return this.publishOneFlightTask(waylineJob);
                }

                // 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();
@@ -191,8 +235,7 @@
        if (WaylineTaskTypeEnum.CONDITION == param.getTaskType()) {
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ?
                                    WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                            .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(param.getMinBatteryCapacity())
                                    .beginTime(beginTime)
@@ -205,7 +248,7 @@
        // value: {workspace_id}:{dock_sn}:{job_id}
        boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
        if (!isAdd) {
            throw new RuntimeException("Failed to create prepare job.");
            throw new RuntimeException("创建任务失败。");
        }
    }

@@ -213,34 +256,60 @@

        boolean isSuccess = this.prepareFlightTask(waylineJob);
        if (!isSuccess) {
            return ResponseResult.error("Failed to prepare job.");
            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("Failed to execute job.");
                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()
@@ -256,6 +325,7 @@
                        .build())
                .build();

        //当任务类型为条件时
        if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
            if (Objects.isNull(waylineJob.getConditions())) {
                throw new IllegalArgumentException();
@@ -264,10 +334,12 @@
            flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
        }

        //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())
@@ -285,12 +357,12 @@
        // 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 = deviceRedisService.checkDeviceOnline(waylineJob.get().getDockSn());
        if (!isOnline) {
            throw new RuntimeException("Dock is offline.");
            throw new RuntimeException("设备离线");
        }

        WaylineJobDTO job = waylineJob.get();
@@ -331,7 +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.
@@ -345,14 +417,14 @@
    public void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
        boolean isOnline = deviceRedisService.checkDeviceOnline(dockSn);
        if (!isOnline) {
            throw new RuntimeException("Dock is offline.");
            throw new RuntimeException("设备离线");
        }

        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) {
@@ -394,12 +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)
@@ -483,7 +565,7 @@
        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());
        }
    }

@@ -525,12 +607,12 @@
    public void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param) {
        Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(workspaceId, jobId);
        if (waylineJobOpt.isEmpty()) {
            throw new RuntimeException("The job does not exist.");
            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("The wayline job status does not match, and the operation cannot be performed.");
            throw new RuntimeException("航路线作业状态不匹配，无法执行操作.");
        }

        switch (param.getStatus()) {
@@ -578,7 +660,7 @@
        ServiceReply reply = messageSender.publishServicesTopic(
                dockSn, WaylineMethodEnum.FLIGHT_TASK_PAUSE.getMethod(), "", jobId);
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("Failed to pause wayline job. Error Code: " + 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);
@@ -593,7 +675,7 @@
        ServiceReply reply = messageSender.publishServicesTopic(
                dockSn, WaylineMethodEnum.FLIGHT_TASK_RESUME.getMethod(), "", jobId);
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("Failed to resume wayline job. Error Code: " + 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));