优化无人机状态更新，更新照片角度附属信息

rain

2024-08-15 2927bb498574a0e30bcbb3a9f7ee9468636cf0d8

优化无人机状态更新，更新照片角度附属信息

 src/main/java/com/dji/sample/droneairport/controller/RegistController.java

@@ -10,6 +10,7 @@
import org.springframework.web.bind.annotation.*;

import javax.servlet.http.HttpServletRequest;
import javax.servlet.http.HttpServletResponse;

import static com.dji.sample.component.AuthInterceptor.TOKEN_CLAIM;

@@ -41,7 +42,7 @@
    }

    @GetMapping("/getDroneStatus/{deviceid}")
    public ResponseResult droneStatus(@PathVariable(name = "deviceid") String deviceid, HttpServletRequest request) throws Exception {
    public ResponseResult droneStatus(@PathVariable(name = "deviceid") String deviceid, HttpServletResponse response) throws Exception {
        return ResponseResult.success(registService.getDroneState(deviceid));
    }

@@ -51,7 +52,7 @@
        CustomClaim customClaim = (CustomClaim) request.getAttribute(TOKEN_CLAIM);
        String creator = customClaim.getUsername();
        ReturnTaskParam param = registService.AddTask(body, headerValue, creator);
        return ResponseResult.success(200, "无人机机场任务添加成功", param.getTraceId(), param.getWaylineId());
        return ResponseResult.success(200, "无人机机场任务添加成功", param.getTraceId(), param.getJobId());
    }

    @GetMapping("/cancelTask/{taskId}")
@@ -65,7 +66,7 @@
        CustomClaim customClaim = (CustomClaim) request.getAttribute(TOKEN_CLAIM);
        String creator = customClaim.getUsername();
        ReturnTaskParam param = registService.updateTask(body, headerValue, creator);
        return ResponseResult.success(200, "无人机机场任务添加成功", param.getTraceId(), param.getWaylineId());
        return ResponseResult.success(200, "无人机机场任务添加成功", param.getTraceId(), param.getJobId());
    }
    @PostMapping("/queryTaskStatus")
    public ResponseResult queryTaskStatus(HttpServletRequest request, @RequestParam String taskid) throws Exception {

 src/main/java/com/dji/sample/droneairport/model/dto/DroneStateDto.java

@@ -11,7 +11,7 @@
@AllArgsConstructor
public class DroneStateDto {

    private int modeCode;
    private Integer modeCode;

    private double longitude;

@@ -23,7 +23,7 @@

    private double gimbalPitch;

    private double gimbalYal;
    private double gimbalYaw;

    private int batteryCapacityPercent;


 src/main/java/com/dji/sample/droneairport/model/param/ReturnTaskParam.java

@@ -5,6 +5,6 @@
@Data
public class ReturnTaskParam {

    private String waylineId;
    private String jobId;
    private String traceId;
}

 src/main/java/com/dji/sample/droneairport/service/RegistService.java

@@ -29,7 +29,7 @@
     * @return 返回一个包含无人机状态信息的ResponseResult对象
     * @throws Exception 如果在获取无人机状态过程中发生错误，将抛出异常
     */
    ResponseResult getDroneState(String deviceId) throws Exception;
    String getDroneState(String deviceId) throws Exception;

    /**
     * 执行授权操作

 src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java

@@ -20,6 +20,9 @@
import com.dji.sample.droneairport.utils.SM4Util;
import com.dji.sample.manage.dao.IDeviceMapper;
import com.dji.sample.manage.model.entity.DeviceEntity;
import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import com.dji.sample.manage.model.receiver.OsdDockReceiver;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.patches.dao.GetPatchesMapper;
@@ -31,6 +34,7 @@
import com.dji.sample.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.entity.WaylineFileEntity;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import org.bouncycastle.crypto.InvalidCipherTextException;
@@ -97,7 +101,7 @@

        } catch (Exception e) {
            // 异常处理
            throw new IllegalArgumentException("Request failed: " + e.getMessage(), e);
            throw new IllegalArgumentException("无人机机场注册失败: " + e.getMessage());
        }
    }

@@ -143,17 +147,16 @@

        } catch (Exception e) {
            // 异常处理
            throw new IllegalArgumentException("Request failed: " + e.getMessage(), e);
            throw new IllegalArgumentException("无人机机场设备注册失败: " + e.getMessage());
        }
    }

    @Override
    public ResponseResult getDroneState(String deviceId) throws Exception {
    public String getDroneState(String deviceId) throws Exception {
        DroneStateDto data = getAirportFromCache(deviceId);
        String json = JSON.toJSONString(data);
        String SM4Screct = SM4Util.encrypt("jsimjrby3wqb7dbq", json);
        String SM2Screct = enSM2(SM4Screct, "23E57DA1E4AB865CCBC325B668762207DEF74345B782237808AE0BABDF26734D");
        return ResponseResult.success(SM2Screct);
        return SM4Screct;
    }

    @Override
@@ -225,15 +228,14 @@
                List<Long> lists1 = new ArrayList<>();
                lists1.add(time);
                String times = TimerUtil.convertTimestampToFormattedString(time);
                param.setWaylineId(taskId);
                timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, taskId+"~"+airport.getWorkspaceId(),airport.getDockSn());
                param.setJobId(taskId);
                timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, taskId + "~" + airport.getWorkspaceId(), airport.getDockSn());
                timerUtil.updatePatchesStatu(lotInfosForAirport);
            }
        }

        return param;
    }



    @Override
@@ -245,7 +247,7 @@
        JSONObject jsonObject = new JSONObject(decryptedJson);
        UpdataTaskDto addTaskDto = UpjsonToDto(jsonObject);
        String taskId = addTaskDto.getTaskid();
        String Bizidname=getBizidnameByTask(taskId);
        String Bizidname = getBizidnameByTask(taskId);
        delPatchesByTaskId(taskId);
        delTaskInfo(taskId);
        delWaylineJob(taskId);
@@ -298,8 +300,8 @@
                List<Long> lists1 = new ArrayList<>();
                lists1.add(time);
                String times = TimerUtil.convertTimestampToFormattedString(time);
                param.setWaylineId(taskId);
                timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, airport.getWorkspaceId()+"~"+taskId,airport.getDockSn());
                param.setJobId(taskId);
                timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, airport.getWorkspaceId() + "~" + taskId, airport.getDockSn());
                timerUtil.updatePatchesStatu(lotInfosForAirport);
            }
        }
@@ -316,7 +318,7 @@
        return null;
    }

    public  void processAndInsertTasks(List<AirportTasks> airportTasks) {
    public void processAndInsertTasks(List<AirportTasks> airportTasks) {
        for (AirportTasks airportTasksEntry : airportTasks) {
            Airport airport = airportTasksEntry.getAirport();
            List<LotInfo> tasks = airportTasksEntry.getTasks();
@@ -392,9 +394,10 @@
        patchesMapper.delete(new LambdaUpdateWrapper<LotInfo>().eq(LotInfo::getTaskId, taskId));
    }

    public void delTaskInfo(String taskId){
    public void delTaskInfo(String taskId) {
        taskInfoMapper.delete(new LambdaUpdateWrapper<TaskInfo>().eq(TaskInfo::getTaskId, taskId));
    }

    private String buildRequestBody(AddDeviceDto dto) {
        try {
            return objectMapper.writeValueAsString(dto);
@@ -409,10 +412,11 @@
        return entity.getWorkspaceId();
    }

    public String getBizidnameByTask(String taskId){
       TaskInfo taskInfo= taskInfoMapper.selectOne(new LambdaQueryWrapper<TaskInfo>().eq(TaskInfo::getTaskId, taskId));
    public String getBizidnameByTask(String taskId) {
        TaskInfo taskInfo = taskInfoMapper.selectOne(new LambdaQueryWrapper<TaskInfo>().eq(TaskInfo::getTaskId, taskId));
        return taskInfo.getName();
    }

    public static String enSM2(String data, String pubKey) throws InvalidCipherTextException, IOException {
        String encrypt = Utils.encrypt(data, pubKey);
        encrypt = Utils.hexToBase64(encrypt);
@@ -423,8 +427,6 @@
        String hex = Utils.convertBase64ToHex(Base64);
        return Utils.decrypt(hex, priKey);
    }




    public static Map<String, String> createKey() throws NoSuchAlgorithmException {
@@ -463,49 +465,72 @@
        return builder.build();
    }

    public String getDroneFromCache(String sn) {
    public OsdSubDeviceReceiver getDroneFromCache(String sn) {
        String key = "osd:" + sn;
        return  RedisOpsUtils.get(key).toString();
        return (OsdSubDeviceReceiver) RedisOpsUtils.get(key);
    }

    public void delWaylineJob(String taskId) {
        waylineJobMapper.delete(new LambdaQueryWrapper<WaylineJobEntity>().like(WaylineJobEntity::getJobId, taskId));
    }

    public DroneStateDto getAirportFromCache(String deviceId) {
        String  receiver = getDroneFromCache(deviceId);
        double gimbalYaw =0.0;
        double gimbalPitch=0.0;
        com.alibaba.fastjson.JSONObject jsonObject = JSON.parseObject(receiver);
        double latitude = jsonObject.getDoubleValue("latitude");
        double longitude = jsonObject.getDoubleValue("longitude");
        int modeCode = jsonObject.getInteger("mode_code");
        double elevation = jsonObject.getDoubleValue("elevation");
        double height = jsonObject.getDoubleValue("height");
        com.alibaba.fastjson.JSONArray payloads = jsonObject.getJSONArray("payloads");
        if (payloads != null && payloads.size() > 1) {
            com.alibaba.fastjson.JSONArray payloadArray = payloads.getJSONArray(1);
            for (int i = 0; i < payloadArray.size(); i++) {
                com.alibaba.fastjson.JSONObject payload = payloadArray.getJSONObject(i);
                 gimbalYaw = payload.getDoubleValue("gimbal_yaw");
                 gimbalPitch = payload.getDoubleValue("gimbal_pitch");
        Optional<OsdSubDeviceReceiver> deviceOsdOpt = redisService.getDeviceOsd(deviceId, OsdSubDeviceReceiver.class);
        boolean result = deviceOsdOpt.isPresent();
        if (!result) {
            String sn = deviceMapper.selectOne(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getChildSn, deviceId)).getDeviceSn();
            Optional<OsdDockReceiver> dockOsdOpt = redisService.getDeviceOsd(sn, OsdDockReceiver.class);
            boolean results = dockOsdOpt.isPresent();
            if (!results){
                DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();
                builder.gimbalYaw(0.0)
                        .gimbalPitch(0.0)
                        .batteryCapacityPercent(0)
                        .height(0)
                        .latitude(0)
                        .longitude(0)
                        .modeCode(1)
                        .elevation(0.0)
                        .gpsState(0)
                        .build();
                return builder.build();
            }
            OsdDockReceiver osdDockReceiver = objectMapper.convertValue(dockOsdOpt.get(), OsdDockReceiver.class);
            int mode;
            int sne = osdDockReceiver.getModeCode().getVal();
            if (sne==0){
                mode=1;
            }
            else {
                mode=2;
            }
            DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();
            builder.gimbalYaw(0.0)
                    .gimbalPitch(0.0)
                    .batteryCapacityPercent(osdDockReceiver.getDroneChargeState().getCapacityPercent())
                    .height(osdDockReceiver.getHeight())
                    .latitude(osdDockReceiver.getLatitude())
                    .longitude(osdDockReceiver.getLongitude())
                    .modeCode(mode)
                    .elevation(0.0)
                    .gpsState(2)
                    .build();
            return builder.build();
        }
        com.alibaba.fastjson.JSONObject battery = jsonObject.getJSONObject("battery");
        int batteryCapacityPercent = battery.getInteger("capacity_percent");
        OsdSubDeviceReceiver receiver = objectMapper.convertValue(deviceOsdOpt.get(), OsdSubDeviceReceiver.class);
        DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();

        builder.gimbalYal(gimbalYaw)
                .gimbalPitch(gimbalPitch)
                .batteryCapacityPercent(batteryCapacityPercent)
                .height(height)
                .latitude(latitude)
                .longitude(longitude)
                .modeCode(modeCode)
                .elevation(elevation)
                .gpsState(3);

        builder.gimbalYaw(receiver.getPayloads().get(0).getGimbalYaw())
                .gimbalPitch(receiver.getPayloads().get(0).getGimbalPitch())
                .batteryCapacityPercent(receiver.getBattery().getCapacityPercent())
                .height(receiver.getHeight())
                .latitude(receiver.getLatitude())
                .longitude(receiver.getLongitude())
                .modeCode(2)
                .elevation(receiver.getElevation())
                .gpsState(2)
                .build();
        return builder.build();
    }


    public static AddTaskDto jsonToDto(JSONObject jsonObject) {
        AddTaskDto dto = new AddTaskDto();
@@ -602,8 +627,8 @@
        for (String sn : snList) {
            DeviceExpanSionEntity entity = entityMap.get(sn);
            if (entity != null) {
                DeviceEntity deviceEntity = deviceMapper.selectOne(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getChildSn,sn));
                Airport airport = new Airport(entity.getWorkspaceId(),deviceEntity.getDeviceSn(),entity.getLatitude(), entity.getLongitude());
                DeviceEntity deviceEntity = deviceMapper.selectOne(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getChildSn, sn));
                Airport airport = new Airport(entity.getWorkspaceId(), deviceEntity.getDeviceSn(), entity.getLatitude(), entity.getLongitude());
                airports.add(airport);
            }
        }
@@ -635,6 +660,7 @@
        // 执行更新操作
        taskInfoMapper.update(taskInfo, updateWrapper);
    }

    public void updateJob(String jobid, String waylineId) {
        LambdaUpdateWrapper<WaylineJobEntity> updateWrapper = new LambdaUpdateWrapper<>();
        updateWrapper.eq(WaylineJobEntity::getJobId, jobid)

 src/main/java/com/dji/sample/media/service/impl/FileServiceImpl.java

@@ -120,12 +120,15 @@
    public Integer saveFile(String workspaceId, FileUploadDTO file) throws ImageProcessingException, IOException {
        MediaFileEntity fileEntity = this.fileUploadConvertToEntity(file);
        fileEntity.setWorkspaceId(workspaceId);
        fileEntity.setIsadd(0);
        fileEntity.setFileId(UUID.randomUUID().toString());
        String url = pojo.getEndpoint() + "/" + pojo.getBucket() + file.getObjectKey();
        File downloadedFile = TbFjServiceImpl.downloadFile(url);
        Object data = ImgUtil.getInfo(downloadedFile);
        fileEntity.setDroneData(data);
        if (file.getObjectKey().endsWith("jpeg")){
            fileEntity.setIsadd(0);
            String url = pojo.getEndpoint() + "/" + pojo.getBucket() + file.getObjectKey();
            File downloadedFile = TbFjServiceImpl.downloadFile(url);
            Object data = ImgUtil.getInfo(downloadedFile);
            fileEntity.setDroneData(data);
            updateStatue(file.getName());
        }
        return mapper.insert(fileEntity);
    }
    public void saveFiles(String workspaceId, FileUploadDTO file) {