统一风格

rain

2024-06-14 8d9a2d656e4ae007590c622e5f7c228adacdca49

 src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java

@@ -1,5 +1,6 @@
package com.dji.sample.control.service.impl;

import com.alibaba.fastjson.JSONObject;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.mqtt.config.MqttConfiguration;
import com.dji.sample.component.mqtt.model.*;
@@ -18,6 +19,7 @@
import com.dji.sample.control.service.IControlService;
import com.dji.sample.control.service.IDrcService;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.DockDrcStateEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import com.dji.sample.manage.model.enums.UserTypeEnum;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
@@ -26,6 +28,7 @@
import com.dji.sample.wayline.model.dto.WaylineTaskProgressReceiver;
import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
import com.dji.sample.wayline.model.enums.WaylineTaskStatusEnum;
import com.dji.sample.wayline.model.param.PointPOJO;
import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
@@ -63,10 +66,10 @@

    @Autowired
    private IDeviceService deviceService;
    

    @Autowired
    private ObjectMapper mapper;
    

    @Autowired
    private ISendMessageService webSocketMessageService;

@@ -130,10 +133,10 @@
        if (dockOpt.isPresent() && (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode)) {
            Optional<OsdSubDeviceReceiver> deviceOsd = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
            if (deviceOsd.isEmpty() || deviceOsd.get().getElevation() <= 0) {
                throw new RuntimeException("The drone is not in the sky and cannot enter command flight mode.");
                throw new RuntimeException("无人机不在空中，不能进入指挥飞行模式。");
            }
        } else {
            throw new RuntimeException("The current state of the dock does not support entering command flight mode.");
            throw new RuntimeException("当前状态不支持进入命令飞行模式。");
        }

        ResponseResult result = controlService.seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
@@ -149,7 +152,7 @@
        String pubTopic = topic + TopicConst.DOWN;
        String subTopic = topic + TopicConst.UP;

        // If the dock is in drc mode, refresh the permissions directly.
        // If the dock is in drc mode, refresh the permissions directly. 如果dock处于drc模式，直接刷新权限
        if (deviceService.checkDockDrcMode(param.getDockSn())
                && param.getClientId().equals(this.getDrcModeInRedis(param.getDockSn()))) {
            refreshAcl(param.getDockSn(), param.getClientId(), topic, subTopic);
@@ -170,7 +173,7 @@
                    .build());

        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" + reply.getResult() + "; Failed to enter command flight control mode, please try again later!");
            throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" + reply.getResult() + "; 进入命令飞行控制模式失败，请稍后再试!");
        }

        refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic);
@@ -190,13 +193,13 @@
    @Override
    public void deviceDrcExit(String workspaceId, DrcModeParam param) {
        if (!deviceService.checkDockDrcMode(param.getDockSn())) {
            throw new RuntimeException("The dock is not in flight control mode.");
            throw new RuntimeException("机场没有进入飞行控制模式");
        }
        ServiceReply reply = messageSenderService.publishServicesTopic(
                param.getDockSn(), DrcMethodEnum.DRC_MODE_EXIT.getMethod(), "");
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" +
                    reply.getResult() + "; Failed to exit command flight control mode, please try again later!");
                    reply.getResult() + "; 命令飞行控制模式退出失败，请稍后再试!");
        }

        String jobId = waylineRedisService.getPausedWaylineJobId(param.getDockSn());
@@ -209,7 +212,7 @@
    }

    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
    public CommonTopicReceiver handleDrcStatusNotify(CommonTopicReceiver receiver, MessageHeaders headers) {
    public CommonTopicReceiver handleDrcStatusNotify(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception {
        String dockSn  = receiver.getGateway();

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
@@ -225,6 +228,26 @@
                            .message(eventsReceiver.getResult().getErrorMsg())
                            .result(eventsReceiver.getResult().getErrorCode()).build());
        }

        //当进入控制时，停止当前的图斑飞行
        if (eventsReceiver.getDrcState()==DockDrcStateEnum.CONNECTED){
            JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
            if (jsonObject != null) {
                controlService.flyToPointStop(dockSn);
            }
        }

        //当退出控制后，继续执行图斑飞行
        if(eventsReceiver.getDrcState() == DockDrcStateEnum.DISCONNECTED){
            JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
            if (jsonObject != null) {
                List<PointPOJO> targetList = (List<PointPOJO>) jsonObject.get("targetList");
                int curIndex = (Integer) jsonObject.get("curIndex");
                String payloadIndex = jsonObject.getString("payloadIndex");
                controlService.flyToNextPoint(targetList, curIndex, dockSn, payloadIndex);
            }
        }

        return receiver;
    }