forked from drone/drone-java
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
@@ -1,8 +1,9 @@ package com.dji.sample.wayline.service.impl; import com.alibaba.druid.stat.TableStat; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper; import com.baomidou.mybatisplus.core.toolkit.Wrappers; import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper; @@ -13,16 +14,22 @@ 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.MinioUrlUtils; 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; @@ -35,13 +42,15 @@ import com.dji.sample.media.model.MediaFileCountDTO; import com.dji.sample.media.model.MediaMethodEnum; import com.dji.sample.media.service.IFileService; import com.dji.sample.utils.GeoUtils; import com.dji.sample.geo.utils.GeoUtils; import com.dji.sample.wayline.dao.IWaylineJobMapper; import com.dji.sample.wayline.model.dto.*; import com.dji.sample.wayline.model.entity.WaylineJobBreakPointEntity; import com.dji.sample.wayline.model.entity.WaylineJobEntity; import com.dji.sample.wayline.model.enums.*; import com.dji.sample.wayline.model.param.*; import com.dji.sample.wayline.service.IWaylineFileService; import com.dji.sample.wayline.service.IWaylineJobBreakPointService; import com.dji.sample.wayline.service.IWaylineJobService; import com.dji.sample.wayline.service.IWaylineRedisService; import com.fasterxml.jackson.core.type.TypeReference; @@ -57,6 +66,7 @@ import org.springframework.util.CollectionUtils; import org.springframework.util.StringUtils; import java.io.File; import java.net.URL; import java.sql.SQLException; import java.time.*; @@ -103,6 +113,12 @@ @Autowired private IControlService controlService; @Autowired private IDroneFlightLogMapper flightLogMapper; @Autowired private IWaylineJobBreakPointService waylineJobBreakPointService; private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) { int id = mapper.insert(jobEntity); if (id <= 0) { @@ -133,7 +149,9 @@ .rthAltitude(param.getRthAltitude()) .mediaCount(0) .build(); if (StringUtils.hasText(param.getJobId())){ jobEntity.setJobId(param.getJobId()); } return insertWaylineJob(jobEntity); } @@ -320,7 +338,7 @@ 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.error("当前状态不支持飞行，请检查是否已有正在执行的飞行任务！"); } } @@ -329,10 +347,10 @@ private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException { boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn()); /*boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn()); if (!isOnline) { throw new RuntimeException("设备离线。"); } }*/ // get wayline file Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId()); @@ -343,19 +361,27 @@ // get file url //获取航线文件地址 URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId()); WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder() .flightId(waylineJob.getJobId()) WaylineTaskCreateDTO.WaylineTaskCreateDTOBuilder flightTaskBuilder = WaylineTaskCreateDTO.builder().flightId(waylineJob.getJobId()) .executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli()) .taskType(waylineJob.getTaskType()) .waylineType(waylineJob.getWaylineType()) .rthAltitude(waylineJob.getRthAltitude()) .outOfControlAction(waylineJob.getOutOfControlAction()) .file(WaylineTaskFileDTO.builder() .url(url.toString()) .url(MinioUrlUtils.getUrl(url)) .fingerprint(waylineFile.get().getSign()) .build()) .build(); .build()); WaylineJobBreakPointEntity entity = waylineJob.getWaylineJobBreakPointEntity(); if (null != entity) { flightTaskBuilder.breakPoint(BreakPointJobDTO.builder() .index(entity.getBpIndex()) .state(entity.getState()) .progress(entity.getProgress()) .waylineId(entity.getWaylineId()) .build()); } WaylineTaskCreateDTO flightTask = flightTaskBuilder.build(); //当任务类型为条件时 if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) { @@ -410,7 +436,7 @@ .status(WaylineJobStatusEnum.FAILED.getVal()) .completedTime(LocalDateTime.now()) .code(serviceReply.getResult()).build()); // The conditional task fails and enters the blocking status. // 条件任务失败，进入阻塞状态。 if (WaylineTaskTypeEnum.CONDITION == job.getTaskType() && WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) { waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId); @@ -491,13 +517,32 @@ } @Override public Boolean updateJob(WaylineJobDTO dto){ public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId,Boolean isBreakPoint) { WaylineJobEntity jobEntity = mapper.selectOne( new LambdaQueryWrapper<WaylineJobEntity>() .eq(WaylineJobEntity::getWorkspaceId, workspaceId) .eq(WaylineJobEntity::getJobId, jobId)); WaylineJobDTO waylineJobDTO = entity2Dto(jobEntity); if (isBreakPoint) { QueryWrapper queryWrapper = new QueryWrapper(); queryWrapper.eq("job_id", jobId); WaylineJobBreakPointEntity waylineJobBreakPointEntity = waylineJobBreakPointService.getOne(queryWrapper); waylineJobDTO.setWaylineJobBreakPointEntity(waylineJobBreakPointEntity); } //设置当前时间为执行时间 waylineJobDTO.setBeginTime(LocalDateTime.now()); return Optional.ofNullable(waylineJobDTO); } @Override public Boolean updateJob(WaylineJobDTO dto) { try { if (dto.getStatus() == 3){ if (dto.getStatus() == 3) { this.checkNextJob(dto); } }catch (SQLException e) { } catch (SQLException e) { throw new RuntimeException(e); } @@ -520,10 +565,27 @@ } @Override public PaginationData<WaylineJobDTO> getJobsByWorkspaceIdNew(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam, String order) { Page<WaylineJobEntity> pageData = mapper.getPageNew(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId,order); List<WaylineJobDTO> records = pageData.getRecords() .stream() .map(this::entity2Dto) .collect(Collectors.toList()); // 是否需要断点续飞 records.forEach(wjd -> wjd.setBreakPoint(waylineJobBreakPointService.count( new LambdaQueryWrapper<WaylineJobBreakPointEntity>().eq(WaylineJobBreakPointEntity::getJobId,wjd.getJobId())) > 0)); return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData)); } @Override public List<WaylineJobDTO> getChildrenJobs(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) { List<WaylineJobEntity> list= mapper.getJobs(workspaceId, waylineJobQueryParam); List<WaylineJobDTO> records =list List<WaylineJobEntity> list = mapper.getJobs(workspaceId, waylineJobQueryParam); List<WaylineJobDTO> records = list .stream() .map(this::entity2Dto) .collect(Collectors.toList()); @@ -575,7 +637,7 @@ url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId()); builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder() .file(WaylineTaskFileDTO.builder() .url(url.toString()) .url(MinioUrlUtils.getUrl(url)) .fingerprint(waylineFile.get().getSign()) .build()) .build())); @@ -700,39 +762,57 @@ } @Override public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam) { public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) throws Exception { List<List<PointPOJO>> areaList = flyAreaParam.getAreaList(); //获取所有中心点 // List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam); PointPOJO dockPoint = flyAreaParam.getDockPoint(); Double radius = flyAreaParam.getRadius(); GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath()); List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius()); List<PointPOJO> centerPointList = new ArrayList<>(); //一键起飞 TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint); //根据区域获取中心点 areaList.forEach(area -> { PointPOJO centerPoint = GeoUtils.getCenterPoint(area); centerPointList.add(centerPoint); }); ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam); //巡逻目标集合 List<PointPOJO> targetList = new ArrayList<>(); //获取所有中心点之后, centerPointList.forEach(centerPoint -> { //判断各个中心点和机场点的距离 double distance = GeoUtils.distance(dockPoint.getLon(), dockPoint.getLat(), centerPoint.getLon(), centerPoint.getLat()); //设置飞向第一个点 while (takeoffToPointRes.getCode() == ResponseResult.CODE_SUCCESS) { //获取无人机状态 DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(deviceSn); //当距离小于半径时,添加到目标集合中 if (distance <= radius) { centerPoint.setDistance(distance); targetList.add(centerPoint); //当无人机状态为手动飞行 if (deviceMode == DeviceModeCodeEnum.MANUAL) { //飞向目标点 FlyToPointParam flyToPointParam = new FlyToPointParam(); flyToPointParam.setMaxSpeed(14); List<PointDTO> pointDTOS = new ArrayList<>(); PointDTO pointDTO = new PointDTO(); pointDTO.setHeight(120.0); pointDTO.setLongitude(targetList.get(0).getLon()); pointDTO.setLatitude(targetList.get(0).getLat()); pointDTOS.add(pointDTO); flyToPointParam.setPoints(pointDTOS); ResponseResult flyToRes = controlService.flyToPoint(sn, flyToPointParam); if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) { //第一个点指令飞行成功后，把数组存到redis中 JSONObject jsonObject = new JSONObject(); jsonObject.put("targetList",targetList); jsonObject.put("payloadIndex",flyAreaParam.getPayloadIndex()); jsonObject.put("curIndex",0); RedisOpsUtils.set("tuban:"+sn,jsonObject); } break; } }); } //按距离从近到远排序 targetList.sort(Comparator.comparing(PointPOJO::getDistance)); return ResponseResult.success(targetList); } //后续为无人机操作逻辑 //先飞到空中 public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) { TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam(); takeoffToPointParam.setTargetLatitude(dockPoint.getLat()); @@ -749,43 +829,12 @@ takeoffToPointParam.setMaxSpeed(10.0); takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION); return ResponseResult.success(); // //起飞 // ResponseResult responseResult = controlService.takeoffToPoint(sn, takeoffToPointParam); // // if (responseResult.getCode() != ResponseResult.CODE_SUCCESS) { // return responseResult; // } // //向目标点飞行 // // FlyToPointParam flyToPointParam = new FlyToPointParam(); // flyToPointParam.setMaxSpeed(14); // List<PointDTO> pointDTOS = new ArrayList<>(); // targetList.forEach(pointPOJO -> { // PointDTO pointDTO = new PointDTO(); // pointDTO.setHeight(150.0); // pointDTO.setLongitude(pointPOJO.getLon()); // pointDTO.setLatitude(pointPOJO.getLat()); // // pointDTOS.add(pointDTO); // }); // flyToPointParam.setPoints(pointDTOS); // ResponseResult responseResult1 = controlService.flyToPoint(sn, flyToPointParam); // // if (responseResult1.getCode() != ResponseResult.CODE_SUCCESS) { // return responseResult1; // } // // //返航 // //return_home // // // return ResponseResult.success(); return takeoffToPointParam; } @Override public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException { public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException { WaylineJobEntity params = new WaylineJobEntity(); params.setJobId(job.getJobId()); @@ -809,7 +858,7 @@ long currentTime = System.currentTimeMillis(); for (int i = 0; i < executeStartTimeArr.size(); i++) { Long startTime = executeStartTimeArr.get(i).get(0)*1000; Long startTime = executeStartTimeArr.get(i).get(0) * 1000; //如果当前时间小于开始时间 if (currentTime < startTime) { //当前索引就是下一次要执行的时间 @@ -903,21 +952,26 @@ } @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); if (!CollectionUtils.isEmpty(list)){ 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; } @@ -925,9 +979,9 @@ @Override public void updateJobCollect(WaylineJobEntity waylineJob) { new LambdaUpdateChainWrapper<>(mapper) .eq(WaylineJobEntity::getJobId,waylineJob.getJobId()) .set(WaylineJobEntity::getCollectStatus,waylineJob.getCollectStatus()) .set(WaylineJobEntity::getUserId,waylineJob.getUserId()) .eq(WaylineJobEntity::getJobId, waylineJob.getJobId()) .set(WaylineJobEntity::getCollectStatus, waylineJob.getCollectStatus()) .set(WaylineJobEntity::getUserId, waylineJob.getUserId()) .update(); }
