图斑距离计算，定时任务添加逻辑

guoshilong

2023-11-13 cbf5045d84088891ef0696b189e1f8af6a653bad

图斑距离计算，定时任务添加逻辑

 src/main/java/com/dji/sample/utils/GeoUtils.java

New file
@@ -0,0 +1,78 @@
package com.dji.sample.utils;

import com.dji.sample.wayline.model.param.PointPOJO;

import java.util.List;

/**
 * 空间计算工具类
 */
public class GeoUtils {
    /**
     * 默认地球半径
     */
    private static double EARTH_RADIUS = 6371000;//赤道半径(单位m)

    /**
     * 转化为弧度(rad)
     */
    private static double rad(double d) {
        return d * Math.PI / 180.0;
    }


    /**
     * 计算中心经纬度与目标经纬度的距离（米）
     *
     * @param centerLon 中心精度
     * @param centerLat 中心纬度
     * @param targetLon 需要计算的精度
     * @param targetLat 需要计算的纬度
     * @return 米
     */
    public static double distance(double centerLon, double centerLat, double targetLon, double targetLat) {

        double jl_jd = 102834.74258026089786013677476285;// 每经度单位米;
        double jl_wd = 111712.69150641055729984301412873;// 每纬度单位米;
        double b = Math.abs((centerLat - targetLat) * jl_jd);
        double a = Math.abs((centerLon - targetLon) * jl_wd);
        return Math.sqrt((a * a + b * b));
    }

    /**
     * 根据多个点计算中心点
     * @param list
     * @return
     */
    public static PointPOJO getCenterPoint(List<PointPOJO> list) {

        int total = list.size();
        double X = 0, Y = 0, Z = 0;

        for (int i = 0; i < list.size(); i++) {
            PointPOJO point = list.get(i);
            double lat, lon, x, y, z;
            lon = point.getLon() * Math.PI / 180;
            lat = point.getLat() * Math.PI / 180;
            x = Math.cos(lat) * Math.cos(lon);
            y = Math.cos(lat) * Math.sin(lon);
            z = Math.sin(lat);
            X += x;
            Y += y;
            Z += z;
        }


        X = X / total;
        Y = Y / total;
        Z = Z / total;
        double Lon = Math.atan2(Y, X);
        double Hyp = Math.sqrt(X * X + Y * Y);
        double Lat = Math.atan2(Z, Hyp);

        PointPOJO centerPoint = new PointPOJO();
        centerPoint.setLon( Lon * 180 / Math.PI);
        centerPoint.setLat(Lat * 180 / Math.PI);
        return centerPoint;
    }
}

 src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java

@@ -6,9 +6,7 @@
import com.dji.sample.log.aspect.SysLogAnnotation;
import com.dji.sample.wayline.model.dto.WaylineJobDTO;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import com.dji.sample.wayline.model.param.CreateJobParam;
import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.model.param.WaylineJobQueryParam;
import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineJobService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -16,6 +14,7 @@
import javax.servlet.http.HttpServletRequest;
import javax.validation.Valid;
import java.sql.SQLException;
import java.util.List;
import java.util.Set;

import static com.dji.sample.component.AuthInterceptor.TOKEN_CLAIM;
@@ -34,6 +33,7 @@

    /**
     * 创建航路任务。
     *
     * @param request
     * @param param
     * @param workspaceId
@@ -44,7 +44,7 @@
    @SysLogAnnotation(operModul = "计划库", operType = "新增", operDesc = "创建计划")
    public ResponseResult createJob(HttpServletRequest request, @Valid @RequestBody CreateJobParam param,
                                    @PathVariable(name = "workspace_id") String workspaceId) throws SQLException {
        CustomClaim customClaim = (CustomClaim)request.getAttribute(TOKEN_CLAIM);
        CustomClaim customClaim = (CustomClaim) request.getAttribute(TOKEN_CLAIM);
        customClaim.setWorkspaceId(workspaceId);

        return waylineJobService.publishFlightTask(param, customClaim);
@@ -53,6 +53,7 @@

    /**
     * 创建航路任务(重复定时和连续执行)
     *
     * @param request
     * @param param
     * @param workspaceId
@@ -62,8 +63,8 @@
    @PostMapping("/{workspace_id}/flight-tasks-condition")
    @SysLogAnnotation(operModul = "计划库", operType = "新增", operDesc = "创建航路任务(重复定时和连续执行)")
    public ResponseResult createJobCondition(HttpServletRequest request, @Valid @RequestBody CreateJobParam param,
                                    @PathVariable(name = "workspace_id") String workspaceId) throws SQLException {
        CustomClaim customClaim = (CustomClaim)request.getAttribute(TOKEN_CLAIM);
                                             @PathVariable(name = "workspace_id") String workspaceId) throws SQLException {
        CustomClaim customClaim = (CustomClaim) request.getAttribute(TOKEN_CLAIM);
        customClaim.setWorkspaceId(workspaceId);

        return waylineJobService.publishFlightTaskCondition(param, customClaim);
@@ -71,6 +72,7 @@

    /**
     * 分页查询
     *
     * @param page
     * @param pageSize
     * @param workspaceId
@@ -80,28 +82,28 @@
    @SysLogAnnotation(operModul = "计划库", operType = "查询", operDesc = "分页查询")
    public ResponseResult<PaginationData<WaylineJobDTO>> getJobs(@RequestParam(defaultValue = "1") Long page,
                                                                 @RequestParam(name = "page_size", defaultValue = "10") Long pageSize,
                                                                 @PathVariable(name = "workspace_id") String workspaceId, WaylineJobQueryParam waylineJobQueryParam){
        PaginationData<WaylineJobDTO> data = waylineJobService.getJobsByWorkspaceId(workspaceId, page, pageSize,waylineJobQueryParam);
                                                                 @PathVariable(name = "workspace_id") String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
        PaginationData<WaylineJobDTO> data = waylineJobService.getJobsByWorkspaceId(workspaceId, page, pageSize, waylineJobQueryParam);
        return ResponseResult.success(data);
    }

    /**
     * 查询最新的记录
     *
     * @return
     */
    @GetMapping("/{workspace_id}/latestJob")
    public ResponseResult<WaylineJobEntity> getLatestJobs(@PathVariable(name = "workspace_id") String workspaceId,WaylineJobQueryParam waylineJobQueryParam){
    public ResponseResult<WaylineJobEntity> getLatestJobs(@PathVariable(name = "workspace_id") String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {

        WaylineJobEntity waylineJobEntity = waylineJobService.getLatestJob(workspaceId,waylineJobQueryParam);
        WaylineJobEntity waylineJobEntity = waylineJobService.getLatestJob(workspaceId, waylineJobQueryParam);

        return ResponseResult.success(waylineJobEntity);
    }




    /**
     * 发送命令取消作业。
     *
     * @param jobIds
     * @param workspaceId
     * @return
@@ -110,13 +112,14 @@
    @DeleteMapping("/{workspace_id}/jobs")
    @SysLogAnnotation(operModul = "计划库", operType = "删除", operDesc = "发送命令取消作业")
    public ResponseResult publishCancelJob(@RequestParam(name = "job_id") Set<String> jobIds,
                                     @PathVariable(name = "workspace_id") String workspaceId) throws SQLException {
                                           @PathVariable(name = "workspace_id") String workspaceId) throws SQLException {
        waylineJobService.cancelFlightTask(workspaceId, jobIds);
        return ResponseResult.success();
    }

    /**
     * 将此作业的媒体文件设置为立即上传。
     *
     * @param workspaceId
     * @param jobId
     * @return
@@ -124,7 +127,7 @@
    @PostMapping("/{workspace_id}/jobs/{job_id}/media-highest")
    @SysLogAnnotation(operModul = "计划库", operType = "修改", operDesc = "将此作业的媒体文件设置为立即上传")
    public ResponseResult uploadMediaHighestPriority(@PathVariable(name = "workspace_id") String workspaceId,
                                             @PathVariable(name = "job_id") String jobId) {
                                                     @PathVariable(name = "job_id") String jobId) {
        waylineJobService.uploadMediaHighestPriority(workspaceId, jobId);
        return ResponseResult.success();
    }
@@ -137,4 +140,15 @@
        waylineJobService.updateJobStatus(workspaceId, jobId, param);
        return ResponseResult.success();
    }

    /**
     * 根据区域飞行
     *
     * @return
     */
    @PostMapping("/{sn}/jobs/flyByArea")
    @SysLogAnnotation(operModul = "根据区域飞行", operType = "根据区域飞行", operDesc = "根据区域飞行")
    public ResponseResult flyByArea(@PathVariable(name = "sn") String sn, @RequestBody FlyAreaParam flyAreaParam) {
        return         waylineJobService.flyByArea(sn,flyAreaParam );
    }
}

 src/main/java/com/dji/sample/wayline/model/param/FlyAreaParam.java

New file
@@ -0,0 +1,19 @@
package com.dji.sample.wayline.model.param;

import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.Data;

import java.util.List;

@Data
public class FlyAreaParam {
    //机场的经纬度
    @JsonProperty(value = "dockPoint")
    private PointPOJO dockPoint;

    //区域集合
    @JsonProperty(value = "areaList")
    private List<List<PointPOJO>> areaList;
    //无人机巡逻半径 (m)
    private  Double radius;
}

 src/main/java/com/dji/sample/wayline/model/param/PointPOJO.java

New file
@@ -0,0 +1,27 @@
package com.dji.sample.wayline.model.param;

import lombok.Data;

/**
 * 点
 */
@Data
public class PointPOJO {

    /**
     * 经度
     */
    private Double lon;

    /**
     * 纬度
     */
    private Double lat;

    /**
     * 高度
     */
    private Double height;

    private Double distance;
}

 src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java

@@ -7,9 +7,7 @@
import com.dji.sample.wayline.model.dto.WaylineJobDTO;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
import com.dji.sample.wayline.model.param.CreateJobParam;
import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.model.param.WaylineJobQueryParam;
import com.dji.sample.wayline.model.param.*;
import org.springframework.messaging.MessageHeaders;

import java.sql.SQLException;
@@ -117,7 +115,7 @@
     * @param dto
     * @return
     */
    Boolean updateJob(WaylineJobDTO dto);
    Boolean updateJob(WaylineJobDTO dto) ;

    /**
     * Paginate through all jobs in this workspace.
@@ -164,4 +162,12 @@
     * @return
     */
    WaylineJobEntity getLatestJob(String workspaceId, WaylineJobQueryParam waylineJobQueryParam);

    ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam);

    /**
     * 判断是否有下一次任务
     * @param job
     */
    ResponseResult checkNextJob(WaylineJobDTO job)  throws SQLException ;
}

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

@@ -65,6 +65,7 @@

    /**
     * Handle the progress messages of the flight tasks reported by the dock.
     * 处理机场上报的飞行任务进度信息
     * @param receiver
     * @param headers
     */
@@ -110,7 +111,7 @@
                .mediaCount(mediaCount)
                .build();

        // record the update of the media count.
        //记录媒体计数的更新
        if (Objects.nonNull(job.getMediaCount()) && job.getMediaCount() != 0) {
            RedisOpsUtils.hashSet(RedisConst.MEDIA_FILE_PREFIX + receiver.getGateway(), job.getJobId(),
                    MediaFileCountDTO.builder().jobId(receiver.getBid()).mediaCount(job.getMediaCount()).uploadedCount(0).build());

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

@@ -1,7 +1,9 @@
package com.dji.sample.wayline.service.impl;

import com.alibaba.druid.stat.TableStat;
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.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.CustomClaim;
@@ -12,11 +14,17 @@
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.service.IControlService;
import com.dji.sample.control.service.IDrcService;
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.DroneRcLostActionEnum;
import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
import com.dji.sample.manage.model.receiver.OsdDockReceiver;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
import com.dji.sample.manage.service.IDeviceRedisService;
@@ -24,13 +32,12 @@
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.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.dto.*;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import com.dji.sample.wayline.model.enums.*;
import com.dji.sample.wayline.model.param.CreateJobParam;
import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.model.param.WaylineJobQueryParam;
import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineFileService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
@@ -89,6 +96,9 @@

    @Autowired
    private IWaylineRedisService waylineRedisService;

    @Autowired
    private IControlService controlService;

    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
        int id = mapper.insert(jobEntity);
@@ -238,42 +248,141 @@

        WaylineJobDTO waylineJob = waylineJobOpt.get();

        //循环执行时间
        for (List<Long> timeArr : param.getExecuteStartTimeArr()) {
            LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
            long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()))
                    .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
        //存一条记录,
        List<Long> timeArr = param.getExecuteStartTimeArr().get(0);

            long endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                    LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
                            .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
        LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
        LocalDateTime beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));

            if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
                //中断当前循环执行下一个
                continue;
            }
        LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;


            //条件任务
            if (param.getTaskType() == WaylineTaskTypeEnum.CONDITION) {
                //如果是条件任务类型，需要在任务参数中添加条件。
                waylineJob.setConditions(
                        WaylineTaskConditionDTO.builder()
                                .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                                .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                        .batteryCapacity(param.getMinBatteryCapacity())
                                        .beginTime(beginTime)
                                        .endTime(endTime)
                                        .build())
                                .build());
            }

            ResponseResult response = this.publishOneFlightTask(waylineJob);
            if (ResponseResult.CODE_SUCCESS != response.getCode()) {
                return response;
            }

        if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() < System.currentTimeMillis()) {
            return ResponseResult.error("任务已过期");
        }
        //条件任务
        if (param.getTaskType() == WaylineTaskTypeEnum.CONDITION) {
            //如果是条件任务类型，需要在任务参数中添加条件。
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(param.getMinBatteryCapacity())
                                    .beginTime(beginTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
                                    .endTime(endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
                                    .build())
                            .build());
        } else {
            waylineJob.setBeginTime(beginTime);
        }

        ResponseResult response = this.publishOneFlightTask(waylineJob);
        if (ResponseResult.CODE_SUCCESS != response.getCode()) {
            return response;
        }


        //新增多条数据
        //开始日期
//        String parentId = "";
//        for (int i = 0; i < param.getExecuteStartTimeArr().size(); i++) {
//            List<Long> timeArr = param.getExecuteStartTimeArr().get(i);
//
//            long beginTimeLong = 0L;
//            long endTimeLong = 0L;
//            LocalDateTime beginTime = null;
//            if (i == 0) {
//                //父,开始-结束为整个区间
//                //开始日期
//                LocalDate startDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(0)), ZoneId.systemDefault());
//                beginTimeLong = LocalDateTime.of(startDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(0).get(0)), ZoneId.systemDefault()))
//                        .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
//
//                //结束日期
//                LocalDate endDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(1)), ZoneId.systemDefault());
//                endTimeLong = LocalDateTime.of(endDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(param.getExecuteStartTimeArr().size() - 1).get(0)), ZoneId.systemDefault()))
//                        .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
//            } else {
//                //子,开始-结束为当前区间
//                //开始日期
//                LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
//                //任务执行开始时间
//                beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
//                //任务结束时间
//                LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
//                        LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;
//
//                beginTimeLong = beginTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
//                endTimeLong = endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
//            }
//
//
//            //保存数据
//            WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
//                    .parentId(parentId.equals("") ? null : parentId)
//                    .jobId(UUID.randomUUID().toString())
//                    .name(param.getName())
//                    .dockSn(param.getDockSn())
//                    .fileId(param.getFileId())
//                    .username(customClaim.getUsername())
//                    .workspaceId(customClaim.getWorkspaceId())
//
//                    .beginTime(beginTimeLong)
//                    .endTime(endTimeLong)
//                    .status(WaylineJobStatusEnum.PENDING.getVal())
//                    .taskType(param.getTaskType().getVal())
//                    .waylineType(param.getWaylineType().getVal())
//                    .outOfControlAction(param.getOutOfControlAction())
//                    .batteryCapacity(param.getMinBatteryCapacity())
//                    .rthAltitude(param.getRthAltitude())
//                    .mediaCount(0)
//                    .repFreVal(param.getRepFreVal())
//                    .repFreType(param.getRepFreType())
//                    .repRuleType(param.getRepRuleType())
//                    .repRuleVal(param.getRepRuleVal())
//                    .executeTimeArr(param.getTaskPeriods())
//                    .executeStartTimeArr(param.getExecuteStartTimeArr())
//                    .build();
//
//            Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);
//
//            if (waylineJobOpt.isEmpty()) {
//                throw new SQLException("任务创建失败");
//            }
//
//
//            if (i == 0) {
//                //把第一个当作父
//                parentId = waylineJobEntity.getId().toString();
//            }
//            WaylineJobDTO waylineJob = waylineJobOpt.get();
//
//            //条件任务
//            if (param.getTaskType() == WaylineTaskTypeEnum.CONDITION) {
//                //如果是条件任务类型，需要在任务参数中添加条件。
//                waylineJob.setConditions(
//                        WaylineTaskConditionDTO.builder()
//                                .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
//                                .readyConditions(WaylineTaskReadyConditionDTO.builder()
//                                        .batteryCapacity(param.getMinBatteryCapacity())
//                                        .beginTime(beginTimeLong)
//                                        .endTime(endTimeLong)
//                                        .build())
//                                .build());
//            } else {
//                waylineJob.setBeginTime(beginTime);
//            }
//
//            if (waylineJobOpt.isEmpty()) {
//                throw new SQLException("任务创建失败");
//            }
//
//            ResponseResult response = this.publishOneFlightTask(waylineJob);
//            if (ResponseResult.CODE_SUCCESS != response.getCode()) {
//                return response;
//            }
//        }

        return ResponseResult.success();
    }

@@ -481,7 +590,17 @@
    }

    @Override
    public Boolean updateJob(WaylineJobDTO dto) {
    public Boolean updateJob(WaylineJobDTO dto){

        try {
            if (dto.getStatus() == 3){
                this.checkNextJob(dto);
            }
        }catch (SQLException e) {
            throw new RuntimeException(e);
        }


        return mapper.update(this.dto2Entity(dto),
                new LambdaUpdateWrapper<WaylineJobEntity>()
                        .eq(WaylineJobEntity::getJobId, dto.getJobId())) > 0;
@@ -683,12 +802,206 @@
//                .orderByDesc(WaylineJobEntity::getBeginTime)
//        );

        WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId,waylineJobQueryParam);
        WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);


       return waylineJobEntity;
        return waylineJobEntity;
    }

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

        List<List<PointPOJO>> areaList = flyAreaParam.getAreaList();
        PointPOJO dockPoint = flyAreaParam.getDockPoint();
        Double radius = flyAreaParam.getRadius();

        List<PointPOJO> centerPointList = new ArrayList<>();

        //根据区域获取中心点
        areaList.forEach(area -> {
            PointPOJO centerPoint = GeoUtils.getCenterPoint(area);
            centerPointList.add(centerPoint);
        });

        //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());

            //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);
            }
        });

        //按距离从近到远排序
        targetList.sort(Comparator.comparing(PointPOJO::getDistance));

        //后续为无人机操作逻辑
        //先飞到空中
        TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();

        takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
        takeoffToPointParam.setTargetLongitude(dockPoint.getLon());
        //设置飞行高度
        takeoffToPointParam.setTargetHeight(120.0);
        //设置安全起飞高度
        takeoffToPointParam.setSecurityTakeoffHeight(100.0);
        //设置返航高度
        takeoffToPointParam.setRthAltitude(100.0);
        //设置失控操作
        takeoffToPointParam.setRcLostAction(DroneRcLostActionEnum.RETURN_HOME);
        //设置起飞速度
        takeoffToPointParam.setMaxSpeed(10.0);
        takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);

        //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();
    }

    @Override
    public ResponseResult checkNextJob(WaylineJobDTO job)  throws SQLException  {

        WaylineJobEntity params = new WaylineJobEntity();
        params.setJobId(job.getJobId());


        WaylineJobEntity currentJob = mapper.selectOne(Wrappers.query(params));
        if (currentJob == null) {
            return ResponseResult.error("该任务不存在");
        }

        //该任务没有多次时间
        if (currentJob.getExecuteStartTimeArr() == null) {
            return ResponseResult.success();
        }

        List<List<Long>> executeStartTimeArr = currentJob.getExecuteStartTimeArr();
        int indexTime = -1;

        long currentTime = System.currentTimeMillis();
        for (int i = 0; i < executeStartTimeArr.size(); i++) {
            Long startTime = Long.valueOf(executeStartTimeArr.get(i).get(0));
            //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
                indexTime = i;
                break;
            }
        }

        List<Long> timeArr = currentJob.getExecuteStartTimeArr().get(indexTime);
        LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
        LocalDateTime beginDate = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
        LocalDateTime endDate = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
                : beginDate;

        long beginTime = beginDate
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
        long endTime = endDate
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();


        //添加一条新数据
        WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
                .jobId(UUID.randomUUID().toString())
                //大于1则拿前面的parentId,为1则拿第0个的id
                .parentId(indexTime > 1 ? currentJob.getParentId().toString() : currentJob.getId().toString())
                .name(currentJob.getName())
                .dockSn(currentJob.getDockSn())
                .fileId(currentJob.getFileId())
                .username(currentJob.getUsername())
                .workspaceId(currentJob.getWorkspaceId())

                .beginTime(beginTime)
                .endTime(endTime)
                .status(WaylineJobStatusEnum.PENDING.getVal())
                .taskType(currentJob.getTaskType())
                .waylineType(currentJob.getWaylineType())
                .outOfControlAction(currentJob.getOutOfControlAction())
                .batteryCapacity(currentJob.getBatteryCapacity())
                .rthAltitude(currentJob.getRthAltitude())
                .mediaCount(0)
                .repFreVal(currentJob.getRepFreVal())
                .repFreType(currentJob.getRepFreType())
                .repRuleType(currentJob.getRepRuleType())
                .repRuleVal(currentJob.getRepRuleVal())
                .executeTimeArr(currentJob.getExecuteTimeArr())
                .executeStartTimeArr(currentJob.getExecuteStartTimeArr())
                .build();

        Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);

        if (waylineJobOpt.isEmpty()) {
            return ResponseResult.error("任务创建失败");
        }

        WaylineJobDTO waylineJob = waylineJobOpt.get();

        LocalDateTime beginTimeNext = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));

        LocalDateTime endTimeNext = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTimeNext;


        //条件任务
        if (currentJob.getTaskType() == 2) {
            //如果是条件任务类型，需要在任务参数中添加条件。
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(currentJob.getBatteryCapacity())
                                    .beginTime(beginTime)
                                    .endTime(endTime)
                                    .build())
                            .build());
        } else {
            waylineJob.setBeginTime(beginDate);
        }

        ResponseResult response = this.publishOneFlightTask(waylineJob);
        if (ResponseResult.CODE_SUCCESS != response.getCode()) {
            return response;
        }

        return ResponseResult.success();
    }


    private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
        if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
            waylineRedisService.setPausedWaylineJob(dockSn, jobId);