无人机 -飞行记录新增里程、高度信息

shenyijian

2023-11-20 fd16fac820c32c7a244921d0f12076c751855bf4

无人机 -飞行记录新增里程、高度信息

 pom.xml

@@ -197,7 +197,10 @@
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-aop</artifactId>
        </dependency>

        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-amqp</artifactId>
        </dependency>
    </dependencies>

    <build>

 src/main/java/com/dji/sample/component/mqtt/handler/InboundMessageRouter.java

@@ -3,7 +3,9 @@
import com.dji.sample.common.util.SpringBeanUtils;
import com.dji.sample.component.mqtt.model.ChannelName;
import com.dji.sample.component.mqtt.model.DeviceTopicEnum;
import com.dji.sample.component.rabbitmq.config.MqttMsgProxyProducer;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.integration.annotation.Router;
import org.springframework.integration.mqtt.support.MqttHeaders;
import org.springframework.integration.router.AbstractMessageRouter;
@@ -24,6 +26,8 @@
@Component
@Slf4j
public class InboundMessageRouter extends AbstractMessageRouter {
    @Autowired
    private MqttMsgProxyProducer mqttMsgProxyProducer;

    /**
     * All mqtt broker messages will arrive here before distributing them to different channels.
@@ -41,7 +45,12 @@

        DeviceTopicEnum topicEnum = DeviceTopicEnum.find(topic);
        MessageChannel bean = (MessageChannel) SpringBeanUtils.getBean(topicEnum.getBeanName());

        String msg = new String(payload);
        try {
            mqttMsgProxyProducer.publish(topic.replace("/","."), msg);
        } catch (Exception e) {
            log.error("消息发送失败：", e);
        }
        return Collections.singleton(bean);
    }
}

 src/main/java/com/dji/sample/component/rabbitmq/config/MqttMsgProxyProducer.java

New file
@@ -0,0 +1,56 @@
package com.dji.sample.component.rabbitmq.config;

import org.springframework.amqp.core.Message;
import org.springframework.amqp.core.MessageBuilder;
import org.springframework.amqp.core.TopicExchange;
import org.springframework.amqp.rabbit.core.RabbitTemplate;
import org.springframework.amqp.support.converter.Jackson2JsonMessageConverter;
import org.springframework.amqp.support.converter.MessageConverter;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Bean;
import org.springframework.stereotype.Component;

import java.util.Date;

@Component
public class MqttMsgProxyProducer {
    @Autowired
    private RabbitTemplate rabbitTemplate;

    private static final String EXCHANGE_NAME = "mshub.uav";

    @Bean(EXCHANGE_NAME)
    public TopicExchange createExchange(){
        return new TopicExchange(EXCHANGE_NAME,true,false);
    }

    public void publish_test() {
//        String message = new Date() + "Beijing";
        Message message = MessageBuilder.withBody("hello javaboy".getBytes())
                .setExpiration("10000")
                .build();
        System.out.println("生产者产生消息=====" + message);
        rabbitTemplate.convertAndSend(EXCHANGE_NAME,"rabbitmq_queue", message);
    }

    public void publish(String routingKey, Object content) {
        rabbitTemplate.convertAndSend(EXCHANGE_NAME,routingKey, content);
    }

    public void publish(String routingKey, String content) {
        Message message = MessageBuilder.withBody(content.getBytes())
                .setExpiration("1000")
                .build();
        rabbitTemplate.send(EXCHANGE_NAME,routingKey, message);
    }

    /**
     * 使用json序列化机制，进行消息转换
     * @return -
     */
    @Bean
    public MessageConverter jackson2MessageConverter() {
        return new Jackson2JsonMessageConverter();
    }

}

 src/main/java/com/dji/sample/log/dao/IDroneFlightLogMapper.java

@@ -2,6 +2,11 @@

import com.baomidou.mybatisplus.core.mapper.BaseMapper;
import com.dji.sample.log.model.entity.DroneFlightLogEntity;
import com.dji.sample.wayline.model.dto.WaylineJobCountDTO;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import org.apache.ibatis.annotations.Param;

import java.util.List;

/**
 * @PROJECT_NAME: iot_drone_api
@@ -10,4 +15,6 @@
 * @DATE: 2023/10/27 17:53
 */
public interface IDroneFlightLogMapper extends BaseMapper<DroneFlightLogEntity> {

    List<DroneFlightLogEntity>  patrolStatistics(@Param("workspaceId") String workspaceId, @Param("queryTime") String queryTime);
}

 src/main/java/com/dji/sample/log/dao/IDroneFlightLogMapper.xml

New file
@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.dji.sample.log.dao.IDroneFlightLogMapper">

    <select id="patrolStatistics" resultType="com.dji.sample.log.model.entity.DroneFlightLogEntity">
        SELECT fl.* FROM drone_flight_log fl
        WHERE 1=1
        <if test="queryTime != null and queryTime != ''">
            and ( FROM_UNIXTIME( fl.end_time / 1000, '%Y' ) = #{queryTime} OR FROM_UNIXTIME( fl.end_time / 1000, '%Y-%m' ) =#{queryTime})
        </if>
        <if test="workspaceId != null and workspaceId != ''">
            and fl.workspace_id = #{workspaceId}
        </if>
        ORDER BY fl.end_time DESC
    </select>
</mapper>

 src/main/java/com/dji/sample/log/model/entity/DroneFlightLogEntity.java

@@ -38,5 +38,8 @@
    private Long startTime;
    @TableField(value = "end_time", fill = FieldFill.INSERT_UPDATE)
    private Long endTime;

    @TableField("total_flight_distance")
    private  Double totalFlightDistance;
    @TableField("track_id")
    private String trackId;
}

 src/main/java/com/dji/sample/log/model/entity/DroneFlightLogInfoEntity.java

@@ -31,5 +31,9 @@
    private Double longitude;
    @TableField(value = "create_time", fill = FieldFill.INSERT)
    private Long createTime;
    @TableField("height")
    private Double height;
    @TableField("elevation")
    private Double elevation;

}

 src/main/java/com/dji/sample/manage/model/receiver/OsdSubDeviceReceiver.java

@@ -81,4 +81,6 @@
    private Integer totalFlightSorties;

    private WaylineRcLostActionEnum exitWaylineWhenRcLost;

    private String trackId;
}

 src/main/java/com/dji/sample/manage/service/impl/DeviceOSDServiceImpl.java

@@ -88,6 +88,7 @@
                            .workspaceId(device.getWorkspaceId())
                            .title(data.getModeCode().getVal() == 3?"手动飞行":data.getModeCode().getVal() == 4?"自动起飞":data.getModeCode().getVal() == 5?"航线飞行":"未知")
                            .startTime(System.currentTimeMillis())
                            .trackId(data.getTrackId())
                            .build();
                    droneFlightLogService.save(dflPo);
                    //缓存对象用于关联数据
@@ -102,6 +103,7 @@

                    DroneFlightLogEntity dflPo = (DroneFlightLogEntity) RedisOpsUtils.get(RedisConst.FLIGHT_LOG + device.getDeviceSn());
                    dflPo.setEndTime(System.currentTimeMillis());
                    dflPo.setTotalFlightDistance(data.getTotalFlightDistance());
                    droneFlightLogService.update(dflPo);

                    RedisOpsUtils.del(RedisConst.FLIGHT_LOG + device.getDeviceSn());
@@ -116,6 +118,8 @@
                        .latitude(data.getLatitude())
                        .longitude(data.getLongitude())
                        .flightId(dflPo.getId())
                        .height(data.getHeight())
                        .elevation(data.getElevation())
                        .build();
                droneFlightLogInfoService.save(dfliPo);
            }

 src/main/java/com/dji/sample/wayline/model/dto/WaylineJobCountDTO.java

@@ -5,6 +5,7 @@
@Data
public class WaylineJobCountDTO {
    private Integer totalNumber;
    private Integer totalTime;
    private String totalDuration;
    private Integer totalDistance;
}

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

@@ -5,6 +5,7 @@
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.conditions.query.LambdaQueryChainWrapper;
import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
@@ -25,6 +26,8 @@
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;
@@ -105,6 +108,9 @@

    @Autowired
    private IControlService controlService;

    @Autowired
    private IDroneFlightLogMapper flightLogMapper;

    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
        int id = mapper.insert(jobEntity);
@@ -896,16 +902,23 @@
    @Override
    public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime) {
        WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
        List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId, queryTime);
      List<DroneFlightLogEntity>  list =  flightLogMapper.patrolStatistics(workspaceId,queryTime);
        if (!CollectionUtils.isEmpty(list)) {
            waylineJobCountDTO.setTotalNumber(list.size());
            long totalTime = list.stream().filter(task -> task.getCompletedTime()!= null && task.getExecuteTime()!= null).mapToLong(s -> s.getCompletedTime() - s.getExecuteTime()).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> deviceSn = list.stream().map(DroneFlightLogEntity::getDeviceSn).distinct().collect(Collectors.toList());
            double sum = 0.0;
            for (String sn : deviceSn) {
                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;
    }

 src/main/resources/application.yml

@@ -37,6 +37,18 @@
    multipart:
      max-file-size: 2GB
      max-request-size: 2GB
#  rabbitmq:
#    host: 182.106.212.58
#    port: 25672
#    username: root
#    password: root
#    virtualHost: /
#  rabbitmq:
#    host: localhost
#    port: 5672
#    username: guest
#    password: guest
#    virtualHost: /

jwt:
  issuer: DJI