无人机 -文件地址修改

shenyijian

2023-11-27 3f6c77f511e0037e1b7e595ddfb56d54092f0222

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

@@ -5,6 +5,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
@@ -12,17 +13,21 @@
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.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.param.DrcModeParam;
import com.dji.sample.control.model.param.FlyToPointParam;
import com.dji.sample.control.model.param.TakeoffToPointParam;
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;
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;
@@ -103,6 +108,9 @@

    @Autowired
    private IControlService controlService;

    @Autowired
    private IDroneFlightLogMapper flightLogMapper;

    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
        int id = mapper.insert(jobEntity);
@@ -701,7 +709,7 @@
    }

    @Override
    public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) {
    public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) throws Exception {

        //获取所有中心点
//        List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
@@ -727,7 +735,7 @@
                List<PointDTO> pointDTOS = new ArrayList<>();

                PointDTO pointDTO = new PointDTO();
                pointDTO.setHeight(150.0);
                pointDTO.setHeight(120.0);
                pointDTO.setLongitude(targetList.get(0).getLon());
                pointDTO.setLatitude(targetList.get(0).getLat());
                pointDTOS.add(pointDTO);
@@ -738,25 +746,17 @@

                if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
                    //第一个点指令飞行成功后，把数组存到redis中
                    /**
                     * {
                     *      targetList:[],
                     *      curIndex:
                     * }
                     */

                    JSONObject jsonObject = new JSONObject();
                    jsonObject.put("targetList",targetList);
                    jsonObject.put("payloadIndex",flyAreaParam.getPayloadIndex());
                    jsonObject.put("curIndex",0);


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

        return ResponseResult.success();
        return ResponseResult.success(targetList);
    }

    public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
@@ -900,18 +900,25 @@


    @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);
      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;
    }