无人机 -执行飞行任务

shenyijian

2023-12-19 ecdd1add809811170ecb6bbef8941bcac7c349f8

无人机 -执行飞行任务

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

@@ -45,7 +45,7 @@
        String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString();
        byte[] payload = (byte[])message.getPayload();

//        log.debug("received topic :{} \t payload :{}", topic, new String(payload));
        log.debug("received topic :{} \t payload :{}", topic, new String(payload));

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

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

@@ -61,8 +61,8 @@
                .fileId(param.getFileId())
                .dockSn(param.getDockSn())
                .workspaceId(workspaceId)
                .executeTime(param.getBeginTime())
                .beginTime(param.getBeginTime())
                .executeTime(LocalDateTime.now())
                .beginTime(LocalDateTime.now())
                .taskType(param.getTaskType())
                .waylineType(param.getWaylineType())
                .rthAltitude(param.getRthAltitude())
@@ -110,7 +110,6 @@
                        .fingerprint(waylineFile.get().getSign())
                        .build())
                .build();

        ServiceReply serviceReply = messageSender.publishServicesTopic(
                waylineJob.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod(), flightTask, waylineJob.getJobId());
        if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {

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

@@ -143,7 +143,9 @@
                .rthAltitude(param.getRthAltitude())
                .mediaCount(0)
                .build();

        if (StringUtils.hasText(param.getJobId())){
            jobEntity.setJobId(param.getJobId());
        }
        return insertWaylineJob(jobEntity);
    }