forked from drone/drone-java
pom.xml
@@ -153,6 +153,12 @@ </dependency> <dependency> <groupId>com.fasterxml.jackson.core</groupId> <artifactId>jackson-databind</artifactId> <version>2.11.3</version> </dependency> <dependency> <groupId>org.springframework.boot</groupId> <artifactId>spring-boot-starter-aop</artifactId> </dependency> src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
@@ -1,5 +1,6 @@ package com.dji.sample.control.service.impl; import com.alibaba.fastjson.JSONObject; import com.dji.sample.common.error.CommonErrorEnum; import com.dji.sample.common.model.ResponseResult; import com.dji.sample.component.mqtt.model.*; @@ -9,10 +10,12 @@ import com.dji.sample.component.websocket.model.BizCodeEnum; import com.dji.sample.component.websocket.service.ISendMessageService; import com.dji.sample.control.model.dto.FlyToProgressReceiver; import com.dji.sample.control.model.dto.PointDTO; import com.dji.sample.control.model.dto.ResultNotifyDTO; import com.dji.sample.control.model.dto.TakeoffProgressReceiver; import com.dji.sample.control.model.enums.DroneAuthorityEnum; import com.dji.sample.control.model.enums.DroneControlMethodEnum; import com.dji.sample.control.model.enums.FlyToStatusEnum; import com.dji.sample.control.model.enums.RemoteDebugMethodEnum; import com.dji.sample.control.model.param.*; import com.dji.sample.control.service.IControlService; @@ -24,6 +27,7 @@ import com.dji.sample.manage.service.IDeviceRedisService; import com.dji.sample.manage.service.IDeviceService; import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum; import com.dji.sample.wayline.model.param.PointPOJO; import com.fasterxml.jackson.core.type.TypeReference; import com.fasterxml.jackson.databind.ObjectMapper; import lombok.extern.slf4j.Slf4j; @@ -32,9 +36,7 @@ import org.springframework.messaging.MessageHeaders; import org.springframework.stereotype.Service; import java.util.Objects; import java.util.Optional; import java.util.UUID; import java.util.*; /** * @author sean @@ -97,7 +99,7 @@ "error: " + serviceIdentifier + serviceReply.getResult()); } if (controlMethodEnum.getProgress()) { RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn, RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn, RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND); } return ResponseResult.success(); @@ -105,6 +107,7 @@ /** * Handles multi-state command progress information. * * @param receiver * @param headers * @return @@ -118,7 +121,8 @@ String sn = RedisOpsUtils.get(key).toString(); EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>(){}); new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>() { }); eventsReceiver.setBid(receiver.getBid()); eventsReceiver.setSn(sn); @@ -186,7 +190,7 @@ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS) public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) { String dockSn = receiver.getGateway(); String dockSn = receiver.getGateway(); Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn); if (deviceOpt.isEmpty()) { @@ -194,7 +198,8 @@ return null; } FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>(){}); FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>() { }); webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.FLY_TO_POINT_PROGRESS.getCode(), ResultNotifyDTO.builder().sn(dockSn) @@ -202,8 +207,63 @@ eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg()) .result(eventsReceiver.getResult().getErrorCode()) .build()); if (eventsReceiver.getStatus().equals(FlyToStatusEnum.WAYLINE_OK)) { JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn); if (jsonObject != null) { List<PointPOJO> targetList = (List<PointPOJO>) jsonObject.get("targetList"); int curIndex = (Integer) jsonObject.get("curIndex"); flyToNextPoint(targetList, curIndex, dockSn); } } return receiver; } private ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn) { curIndex = curIndex + 1; //当无人机状态为人工时再发布下一个命令 while (true) { Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn); DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn()); if (DeviceModeCodeEnum.MANUAL == deviceMode) { if (curIndex == targetList.size()) { //当前是最后一个点，返航 ResponseResult returnHome = controlDockDebug(sn, "return_home", null); RedisOpsUtils.del("tuban:" + sn); return returnHome; } else { //当前不是最后一个点，飞行到下一个点 FlyToPointParam flyToPointParam = new FlyToPointParam(); flyToPointParam.setMaxSpeed(14); List<PointDTO> pointDTOS = new ArrayList<>(); PointDTO pointDTO = new PointDTO(); pointDTO.setHeight(150.0); pointDTO.setLongitude(targetList.get(curIndex).getLon()); pointDTO.setLatitude(targetList.get(curIndex).getLat()); pointDTOS.add(pointDTO); flyToPointParam.setPoints(pointDTOS); ResponseResult flyToRes = flyToPoint(sn, flyToPointParam); if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) { JSONObject jsonObject = new JSONObject(); jsonObject.put("targetList", targetList); jsonObject.put("curIndex", curIndex); RedisOpsUtils.set("tuban:" + sn, jsonObject); } return flyToRes; } } } } private void checkTakeoffCondition(String dockSn) { Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn); @@ -231,14 +291,15 @@ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS) public CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) { String dockSn = receiver.getGateway(); String dockSn = receiver.getGateway(); Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn); if (deviceOpt.isEmpty()) { log.error("机场离线"); return null; } TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>(){}); TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>() { }); webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(), @@ -299,7 +360,7 @@ } @Override public ResponseResult requestsConfig(String sn,String method, RequestsParam param) { public ResponseResult requestsConfig(String sn, String method, RequestsParam param) { ServiceReply serviceReply = messageSenderService.publishRequestsTopic(sn, method, param); return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ? ResponseResult.error(serviceReply.getResult(), "错误码：" + serviceReply.getResult()) src/main/java/com/dji/sample/geo/entity/Crs.java
New file @@ -0,0 +1,10 @@ package com.dji.sample.geo.entity; import lombok.Data; @Data public class Crs { private String type; private Property properties; } src/main/java/com/dji/sample/geo/entity/Feature.java
New file @@ -0,0 +1,16 @@ package com.dji.sample.geo.entity; import lombok.Data; @Data public class Feature { private String type; private Integer id; private Geometry geometry; private Property properties; } src/main/java/com/dji/sample/geo/entity/GeoJson.java
New file @@ -0,0 +1,16 @@ package com.dji.sample.geo.entity; import lombok.Data; import java.util.List; @Data public class GeoJson { private String type; private Crs crs; private List<Feature> features; } src/main/java/com/dji/sample/geo/entity/Geometry.java
New file @@ -0,0 +1,38 @@ package com.dji.sample.geo.entity; import lombok.Data; import java.util.List; @Data public class Geometry { private String type; /** * [ * [ * [ * 115.81799999999998, * 28.652296152000076 * ], * [ * 115.81961010540385, * 28.650053326558464 * ], * [ * 115.82417867053516, * 28.650434040319453 * ], * [ * 115.82265581549132, * 28.652908679765517 * ], * [ * 115.81799999999998, * 28.652296152000076 * ] * ] * ] */ private List<List<List<Double>>> coordinates; } src/main/java/com/dji/sample/geo/entity/Property.java
New file @@ -0,0 +1,12 @@ package com.dji.sample.geo.entity; import lombok.Data; @Data public class Property { private String name; private String FID; private String Id; } src/main/java/com/dji/sample/geo/utils/GeoUtils.java
New file @@ -0,0 +1,182 @@ package com.dji.sample.geo.utils; import com.dji.sample.geo.entity.Feature; import com.dji.sample.geo.entity.GeoJson; import com.dji.sample.wayline.model.param.FlyAreaParam; import com.dji.sample.wayline.model.param.PointPOJO; import com.fasterxml.jackson.databind.DeserializationFeature; import com.fasterxml.jackson.databind.ObjectMapper; import java.io.File; import java.io.IOException; import java.util.ArrayList; import java.util.Comparator; 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; } /** * 获取点区域并按从近到远排序 * @param flyAreaParam * @return */ public static List<PointPOJO> caculatePointList(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)); return targetList; } /** * 根据geojson获取点区域并按从近到远排序 * @param geoJson * @return */ public static List<PointPOJO> caculatePointList(GeoJson geoJson,PointPOJO dockPoint,Double radius){ List<Feature> features = geoJson.getFeatures(); List<List<PointPOJO>> areaList = new ArrayList<>(); features.forEach(feature -> { List<PointPOJO> list = new ArrayList<>(); List<List<Double>> coordinates = feature.getGeometry().getCoordinates().get(0); coordinates.forEach(coordinate ->{ PointPOJO pointPOJO = new PointPOJO(); pointPOJO.setLon(coordinate.get(0)); pointPOJO.setLat(coordinate.get(1)); list.add(pointPOJO); }); areaList.add(list); }); FlyAreaParam flyAreaParam = new FlyAreaParam(); flyAreaParam.setDockPoint(dockPoint); flyAreaParam.setRadius(radius); flyAreaParam.setAreaList(areaList); List<PointPOJO> pointPOJOS = caculatePointList(flyAreaParam); return pointPOJOS; } /** * 读取json文件 * @param path * @return */ public static GeoJson readJsonFile(String path){ try { File file = new File(path); ObjectMapper objectMapper = new ObjectMapper(); objectMapper.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false); return objectMapper.readValue(file, GeoJson.class); } catch (IOException e) { e.printStackTrace(); return null; } } } src/main/java/com/dji/sample/manage/service/IDeviceService.java
@@ -212,6 +212,7 @@ /** * Query the working status of the aircraft. * 查询飞行器的工作状态 * @param deviceSn * @return */ src/main/java/com/dji/sample/utils/GeoUtils.java
File was deleted src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java
@@ -189,9 +189,9 @@ * * @return */ @PostMapping("/{sn}/jobs/flyByArea") @PostMapping("/{sn}/jobs/{device_sn}/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); public ResponseResult flyByArea(@PathVariable(name = "sn") String sn, @RequestBody FlyAreaParam flyAreaParam,@PathVariable(name = "device_sn")String deviceSn) { return waylineJobService.flyByArea(sn, flyAreaParam,deviceSn); } } src/main/java/com/dji/sample/wayline/model/param/FlyAreaParam.java
@@ -16,4 +16,6 @@ private List<List<PointPOJO>> areaList; //无人机巡逻半径 (m) private Double radius; @JsonProperty(value = "jsonPath") private String jsonPath; } src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java
@@ -168,7 +168,7 @@ void updateJobCollect(WaylineJobEntity waylineJob); ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam); ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam,String deviceSn); /** * 判断是否有下一次任务 src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
@@ -1,11 +1,10 @@ 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.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; @@ -23,6 +22,7 @@ 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.geo.entity.GeoJson; import com.dji.sample.manage.model.dto.DeviceDTO; import com.dji.sample.manage.model.enums.DeviceModeCodeEnum; import com.dji.sample.manage.model.enums.DockModeCodeEnum; @@ -35,7 +35,7 @@ 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.WaylineJobEntity; @@ -57,6 +57,7 @@ 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.*; @@ -491,13 +492,13 @@ } @Override public Boolean updateJob(WaylineJobDTO dto){ 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); } @@ -522,8 +523,8 @@ @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()); @@ -700,39 +701,65 @@ } @Override public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam) { public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) { 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(150.0); 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 /** * { * targetList:[], * curIndex: * } */ JSONObject jsonObject = new JSONObject(); jsonObject.put("targetList",targetList); 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(); } //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 +776,12 @@ 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 +805,7 @@ 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 @@ -903,13 +899,11 @@ } @Override public WaylineJobCountDTO patrolStatistics(String workspaceId,String queryTime) { public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime) { WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO(); List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId,queryTime); if (!CollectionUtils.isEmpty(list)){ List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId, queryTime); if (!CollectionUtils.isEmpty(list)) { waylineJobCountDTO.setTotalNumber(list.size()); long totalTime = list.stream().mapToLong(s -> s.getEndTime() - s.getBeginTime()).sum() / 1000; StringBuffer buffer = new StringBuffer(); @@ -925,9 +919,9 @@ @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(); }
New file @@ -0,0 +1,151 @@ { "type": "FeatureCollection", "crs": { "type": "name", "properties": { "name": "EPSG:4326" } }, "features": [ { "type": "Feature", "id": 0, "geometry": { "type": "Polygon", "coordinates": [ [ [ 115.86646556494736, 28.634450296554235 ], [ 115.86425430209033, 28.635738328540754 ], [ 115.86455173471609, 28.633120921432976 ], [ 115.86697714906381, 28.633843533997606 ], [ 115.86646556494736, 28.634450296554235 ] ] ] }, "properties": { "FID": 0, "Id": 0 } }, { "type": "Feature", "id": 1, "geometry": { "type": "Polygon", "coordinates": [ [ [ 115.86400669060504, 28.620271391369386 ], [ 115.86002109341996, 28.616202513049245 ], [ 115.86637425430604, 28.614203765804177 ], [ 115.86591204400565, 28.617200102075913 ], [ 115.86400669060504, 28.620271391369386 ] ] ] }, "properties": { "FID": 1, "Id": 0 } }, { "type": "Feature", "id": 2, "geometry": { "type": "Polygon", "coordinates": [ [ [ 115.83936693345481, 28.616199931733206 ], [ 115.84128848946852, 28.616084360149614 ], [ 115.84093157031771, 28.618154491224743 ], [ 115.83814760094094, 28.618654178035968 ], [ 115.83936693345481, 28.616199931733206 ] ] ] }, "properties": { "FID": 2, "Id": 0 } }, { "type": "Feature", "id": 3, "geometry": { "type": "Polygon", "coordinates": [ [ [ 115.76493801956997, 28.690367528093361 ], [ 115.76654812497384, 28.688124702651749 ], [ 115.77111669010515, 28.688505416412738 ], [ 115.7695938350613, 28.690980055858802 ], [ 115.76493801956997, 28.690367528093361 ] ] ] }, "properties": { "FID": 3, "Id": 0 } } ] }
