forked from drone/drone-java
src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
@@ -1,25 +1,38 @@ package com.dji.sample.control.service.impl; import com.dji.sample.common.error.CommonErrorEnum; import com.dji.sample.common.model.ResponseResult; 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.component.websocket.model.CustomWebSocketMessage; import com.dji.sample.component.websocket.model.BizCodeEnum; import com.dji.sample.component.websocket.service.ISendMessageService; import com.dji.sample.component.websocket.service.IWebSocketManageService; import com.dji.sample.control.model.dto.FlyToProgressReceiver; import com.dji.sample.control.model.dto.ResultNotifyDTO; import com.dji.sample.control.model.dto.TakeoffProgressReceiver; import com.dji.sample.control.model.enums.DroneAuthorityEnum; import com.dji.sample.control.model.enums.DroneControlMethodEnum; import com.dji.sample.control.model.enums.RemoteDebugMethodEnum; import com.dji.sample.control.model.param.*; import com.dji.sample.control.service.IControlService; 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.enums.UserTypeEnum; import com.dji.sample.manage.service.IDevicePayloadService; import com.dji.sample.manage.service.IDeviceRedisService; import com.dji.sample.manage.service.IDeviceService; import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum; import com.fasterxml.jackson.core.type.TypeReference; import com.fasterxml.jackson.databind.ObjectMapper; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.integration.annotation.ServiceActivator; import org.springframework.integration.mqtt.support.MqttHeaders; import org.springframework.messaging.MessageHeaders; import org.springframework.stereotype.Service; import java.util.Objects; import java.util.Optional; import java.util.UUID; @@ -33,66 +46,79 @@ public class ControlServiceImpl implements IControlService { @Autowired private RedisOpsUtils redisOps; @Autowired private IMessageSenderService messageSenderService; @Autowired private ISendMessageService webSocketMessageService; @Autowired private IWebSocketManageService webSocketManageService; private IDeviceService deviceService; @Autowired private IDeviceRedisService deviceRedisService; @Autowired private ObjectMapper mapper; @Autowired private IDevicePayloadService devicePayloadService; private RemoteDebugHandler checkDebugCondition(String sn, RemoteDebugParam param, RemoteDebugMethodEnum controlMethodEnum) { RemoteDebugHandler handler = Objects.nonNull(controlMethodEnum.getClazz()) ? mapper.convertValue(Objects.nonNull(param) ? param : new Object(), controlMethodEnum.getClazz()) : new RemoteDebugHandler(); if (!handler.canPublish(sn)) { throw new RuntimeException("当前的机场状态不支持此功能。"); } if (Objects.nonNull(param) && !handler.valid()) { throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg()); } return handler; } @Override public ResponseResult controlDock(String sn, String serviceIdentifier) { ServicesMethodEnum servicesMethodEnum = ServicesMethodEnum.find(serviceIdentifier); if (servicesMethodEnum == ServicesMethodEnum.UNKNOWN) { return ResponseResult.error("The " + serviceIdentifier + " method does not exist."); public ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param) { RemoteDebugMethodEnum controlMethodEnum = RemoteDebugMethodEnum.find(serviceIdentifier); if (RemoteDebugMethodEnum.UNKNOWN == controlMethodEnum) { return ResponseResult.error(" 没有找到" + serviceIdentifier + " 这个指令。"); } boolean isExist = redisOps.getExpire(RedisConst.DEVICE_ONLINE_PREFIX + sn) > 0; RemoteDebugHandler data = checkDebugCondition(sn, param, controlMethodEnum); boolean isExist = deviceRedisService.checkDeviceOnline(sn); if (!isExist) { return ResponseResult.error("The dock is offline."); return ResponseResult.error("设备离线"); } String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + sn + TopicConst.SERVICES_SUF; String bid = UUID.randomUUID().toString(); Optional<ServiceReply> serviceReplyOpt = messageSenderService.publishWithReply( topic, CommonTopicResponse.builder() .tid(UUID.randomUUID().toString()) .bid(bid) .method(serviceIdentifier) .timestamp(System.currentTimeMillis()) .data("") .build()); if (serviceReplyOpt.isEmpty()) { return ResponseResult.error("No message reply received."); ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, serviceIdentifier, data, bid); if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) { return ResponseResult.error(serviceReply.getResult(), "error: " + serviceIdentifier + serviceReply.getResult()); } ServiceReply<EventsOutputReceiver> serviceReply = mapper.convertValue( serviceReplyOpt.get(), new TypeReference<ServiceReply<EventsOutputReceiver>>() {}); if (serviceReply.getResult() != ResponseResult.CODE_SUCCESS) { return ResponseResult.error(serviceReply.getResult(), serviceReply.getOutput().getStatus()); } if (servicesMethodEnum.getProgress()) { redisOps.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn, if (controlMethodEnum.getProgress()) { RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn, RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND); } return ResponseResult.success(); } @Override @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND) public void handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers) { /** * Handles multi-state command progress information. * @param receiver * @param headers * @return */ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS) public CommonTopicReceiver handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers) { String key = receiver.getMethod() + RedisConst.DELIMITER + receiver.getBid(); if (redisOps.getExpire(key) <= 0) { return; if (RedisOpsUtils.getExpire(key) <= 0) { return receiver; } String sn = redisOps.get(key).toString(); String sn = RedisOpsUtils.get(key).toString(); EventsReceiver<EventsOutputReceiver> eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<EventsReceiver<EventsOutputReceiver>>(){}); EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>(){}); eventsReceiver.setBid(receiver.getBid()); eventsReceiver.setSn(sn); @@ -105,29 +131,171 @@ if (eventsReceiver.getOutput().getProgress().getPercent() == 100 || EventsResultStatusEnum.find(eventsReceiver.getOutput().getStatus()).getEnd()) { redisOps.del(key); RedisOpsUtils.del(key); } DeviceDTO device = (DeviceDTO) redisOps.get(RedisConst.DEVICE_ONLINE_PREFIX + sn); webSocketMessageService.sendBatch( webSocketManageService.getValueWithWorkspaceAndUserType( device.getWorkspaceId(), UserTypeEnum.WEB.getVal()), CustomWebSocketMessage.builder() .data(eventsReceiver) .timestamp(System.currentTimeMillis()) .bizCode(receiver.getMethod()) .build()); Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn); if (receiver.getNeedReply() != null && receiver.getNeedReply() == 1) { String topic = headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF; messageSenderService.publish(topic, CommonTopicResponse.builder() .tid(receiver.getTid()) .bid(receiver.getBid()) .method(receiver.getMethod()) .timestamp(System.currentTimeMillis()) .data(ResponseResult.success()) .build()); if (deviceOpt.isEmpty()) { throw new RuntimeException("The device is offline."); } DeviceDTO device = deviceOpt.get(); webSocketMessageService.sendBatch(device.getWorkspaceId(), UserTypeEnum.WEB.getVal(), receiver.getMethod(), eventsReceiver); return receiver; } private void checkFlyToCondition(String dockSn) { // TODO 设备固件版本不兼容情况 Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn); if (dockOpt.isEmpty()) { throw new RuntimeException("The dock is offline, please restart the dock."); } DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn()); if (DeviceModeCodeEnum.MANUAL != deviceMode) { throw new RuntimeException("The current state of the drone does not support this function, please try again later."); } ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null); if (ResponseResult.CODE_SUCCESS != result.getCode()) { throw new IllegalArgumentException(result.getMessage()); } } @Override public ResponseResult flyToPoint(String sn, FlyToPointParam param) { checkFlyToCondition(sn); param.setFlyToId(UUID.randomUUID().toString()); ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT.getMethod(), param, param.getFlyToId()); return ResponseResult.CODE_SUCCESS != reply.getResult() ? ResponseResult.error("Flying to the target point failed." + reply.getResult()) : ResponseResult.success(); } @Override public ResponseResult flyToPointStop(String sn) { ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT_STOP.getMethod(), null); return ResponseResult.CODE_SUCCESS != reply.getResult() ? ResponseResult.error("The drone flying to the target point failed to stop. " + reply.getResult()) : ResponseResult.success(); } @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS) public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) { String dockSn = receiver.getGateway(); Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn); if (deviceOpt.isEmpty()) { log.error("The dock is offline."); return null; } FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>(){}); webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.FLY_TO_POINT_PROGRESS.getCode(), ResultNotifyDTO.builder().sn(dockSn) .message(WaylineErrorCodeEnum.SUCCESS == eventsReceiver.getResult() ? eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg()) .result(eventsReceiver.getResult().getErrorCode()) .build()); return receiver; } private void checkTakeoffCondition(String dockSn) { Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn); if (dockOpt.isEmpty() || DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) { throw new RuntimeException("The current state does not support takeoff."); } ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null); if (ResponseResult.CODE_SUCCESS != result.getCode()) { throw new IllegalArgumentException(result.getMessage()); } } @Override public ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param) { checkTakeoffCondition(sn); param.setFlightId(UUID.randomUUID().toString()); ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.TAKE_OFF_TO_POINT.getMethod(), param, param.getFlightId()); return ResponseResult.CODE_SUCCESS != reply.getResult() ? ResponseResult.error("The drone failed to take off. " + reply.getResult()) : ResponseResult.success(); } @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS) public CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) { String dockSn = receiver.getGateway(); Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn); if (deviceOpt.isEmpty()) { log.error("The dock is offline."); return null; } TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>(){}); webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(), ResultNotifyDTO.builder().sn(dockSn) .message(WaylineErrorCodeEnum.SUCCESS == eventsReceiver.getResult() ? eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg()) .result(eventsReceiver.getResult().getErrorCode()) .build()); return receiver; } @Override public ResponseResult seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param) { String method; switch (authority) { case FLIGHT: if (deviceService.checkAuthorityFlight(sn)) { return ResponseResult.success(); } method = DroneControlMethodEnum.FLIGHT_AUTHORITY_GRAB.getMethod(); break; case PAYLOAD: if (checkPayloadAuthority(sn, param.getPayloadIndex())) { return ResponseResult.success(); } method = DroneControlMethodEnum.PAYLOAD_AUTHORITY_GRAB.getMethod(); break; default: return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT); } ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, method, param); return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ? ResponseResult.error(serviceReply.getResult(), "Method: " + method + " Error Code:" + serviceReply.getResult()) : ResponseResult.success(); } private Boolean checkPayloadAuthority(String sn, String payloadIndex) { Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn); if (dockOpt.isEmpty()) { throw new RuntimeException("The dock is offline, please restart the dock."); } return devicePayloadService.checkAuthorityPayload(dockOpt.get().getChildDeviceSn(), payloadIndex); } @Override public ResponseResult payloadCommands(PayloadCommandsParam param) throws Exception { param.getCmd().getClazz() .getDeclaredConstructor(DronePayloadParam.class) .newInstance(param.getData()) .checkCondition(param.getSn()); ServiceReply serviceReply = messageSenderService.publishServicesTopic(param.getSn(), param.getCmd().getCmd(), param.getData()); return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ? ResponseResult.error(serviceReply.getResult(), " Error Code:" + serviceReply.getResult()) : ResponseResult.success(); } }
