From 2927bb498574a0e30bcbb3a9f7ee9468636cf0d8 Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Thu, 15 Aug 2024 11:31:33 +0800
Subject: [PATCH] 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/service/impl/RegistServiceImpl.java | 128 +++++++++++++++++++++++++-----------------
1 files changed, 77 insertions(+), 51 deletions(-)
diff --git a/src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java b/src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java
index 89d632e..feb0af2 100644
--- a/src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java
+++ b/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)
--
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