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 | 296 ++++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 202 insertions(+), 94 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 03f14e6..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
@@ -10,7 +10,7 @@
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.redis.RedisOpsUtils;
-import com.dji.sample.droneairport.dao.DeviceExpanSionDao;
+import com.dji.sample.droneairport.dao.DeviceExpanSionMapper;
import com.dji.sample.droneairport.model.Entity.DeviceExpanSionEntity;
import com.dji.sample.droneairport.model.dto.*;
import com.dji.sample.droneairport.model.param.ReturnTaskParam;
@@ -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;
@@ -46,6 +50,7 @@
import java.util.*;
import java.util.stream.Collectors;
+import static com.dji.sample.droneairport.utils.TaskAllocator.assignTasks;
import static com.dji.sample.patches.utils.TimerUtil.getCurrentTimestampPlus8Hours;
@Service
@@ -55,7 +60,7 @@
@Autowired
private IDeviceRedisService redisService;
@Autowired
- private DeviceExpanSionDao expanSionDao;
+ private DeviceExpanSionMapper expanSionMapper;
@Autowired
private TaskInfoMapper taskInfoMapper;
@Autowired
@@ -96,7 +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());
}
}
@@ -111,10 +116,10 @@
@Override
public String addDrone(String workspaceId) {
try {
- DeviceExpanSionEntity airport = expanSionDao.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
+ DeviceExpanSionEntity airport = expanSionMapper.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
.eq(DeviceExpanSionEntity::getWorkspaceId, workspaceId)
.eq(DeviceExpanSionEntity::getType, 0));
- DeviceExpanSionEntity drone = expanSionDao.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
+ DeviceExpanSionEntity drone = expanSionMapper.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
.eq(DeviceExpanSionEntity::getWorkspaceId, workspaceId)
.eq(DeviceExpanSionEntity::getType, 1));
AddDeviceDto dto = deviceEntityToDto(drone);
@@ -142,17 +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
@@ -179,8 +183,6 @@
AddTaskDto addTaskDto = jsonToDto(jsonObject);
TaskInfo taskInfo = new TaskInfo();
List<String> listx = convertStringToList(addTaskDto.getDeviceid());
- String sn = listx.get(0);
- String workspaceId = getWorkspaceId(sn);
taskInfo.setId(traceid);
taskInfo.setTaskId(taskId);
taskInfo.setName(addTaskDto.getBizidname());
@@ -188,47 +190,53 @@
taskInfo.setCreateUser(username);
param.setTraceId(traceid);
taskInfoMapper.insert(taskInfo);
+
+ // 转换 TaskListDto 为 LotInfo
+ List<LotInfo> lotInfos = new ArrayList<>();
List<TaskListDto> tasklist = addTaskDto.getTasklist();
for (TaskListDto taskListDto : tasklist) {
- LotInfo lotInfo = new LotInfo();
- lotInfo = convertToLotInfo(taskListDto);
+ LotInfo lotInfo = convertToLotInfo(taskListDto);
lotInfo.setTaskId(taskId);
lotInfo.setType(0);
lotInfo.setTaskName(addTaskDto.getBizidname());
lotInfo.setUserName(username);
- lotInfo.setWorkspaceId(workspaceId);
+ lotInfos.add(lotInfo);
patchesMapper.insert(lotInfo);
}
- Long time = getCurrentTimestampPlus8Hours(14);
-// 获取未规划的图斑集合
- List<List<LotInfo>> lists = timerUtil.getNoPlan(workspaceId);
- List<List<LotInfo>> convertedLists = TimerUtil.convertToLists(lists);
- for (List<LotInfo> list : convertedLists) {
- String waylineName = TimerUtil.getTimeName();
- //根据获取的图斑集合获得kmz航线文件
- MultipartFile multipartFile = null;
- try {
- multipartFile = timerUtil.getFile(waylineName, list, 28.62452712442823, 115.85666327144976);
- } catch (IOException e) {
- throw new RuntimeException(e);
+ // 获取机场信息
+ List<Airport> airports = getAirportsBySn(listx);
+ List<AirportTasks> airportTasks = assignTasks(airports, lotInfos);
+
+ // 处理并插入图斑到数据库
+ processAndInsertTasks(airportTasks);
+
+ // 根据机场位置生成航线任务
+ for (AirportTasks airportTask : airportTasks) {
+ Airport airport = airportTask.getAirport();
+ List<LotInfo> lotInfosForAirport = airportTask.getTasks();
+
+ if (!lotInfosForAirport.isEmpty()) {
+ String waylineName = TimerUtil.getTimeName();
+ MultipartFile multipartFile = timerUtil.getFile(waylineName, lotInfosForAirport, airport.getLat(), airport.getLon());
+ WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, airport.getWorkspaceId(), username);
+ Long time = getCurrentTimestampPlus8Hours(14);
+ List<List<Long>> listOfLists = new ArrayList<>();
+ List<Long> sublist = new ArrayList<>();
+ sublist.add(time);
+ listOfLists.add(sublist);
+ List<Long> lists1 = new ArrayList<>();
+ lists1.add(time);
+ String times = TimerUtil.convertTimestampToFormattedString(time);
+ param.setJobId(taskId);
+ timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, taskId + "~" + airport.getWorkspaceId(), airport.getDockSn());
+ timerUtil.updatePatchesStatu(lotInfosForAirport);
}
- //上传航线文件
- WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, workspaceId, username);
- //将为规划的图斑状态更新为已规划
- List<List<Long>> listOfLists = new ArrayList<>();
- List<Long> sublist = new ArrayList<>();
- sublist.add(time); // 添加整数值
- listOfLists.add(sublist);
- 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);
- timerUtil.updatePatchesStatu(list);
}
+
return param;
}
+
@Override
public ReturnTaskParam updateTask(String base64, String Secret, String username) throws Exception {
@@ -239,57 +247,88 @@
JSONObject jsonObject = new JSONObject(decryptedJson);
UpdataTaskDto addTaskDto = UpjsonToDto(jsonObject);
String taskId = addTaskDto.getTaskid();
+ String Bizidname = getBizidnameByTask(taskId);
delPatchesByTaskId(taskId);
-// delWaylineJob(taskId);
+ delTaskInfo(taskId);
+ delWaylineJob(taskId);
TaskInfo taskInfo = new TaskInfo();
List<String> listx = convertStringToList(addTaskDto.getDeviceid());
- String sn = listx.get(0);
- String workspaceId = getWorkspaceId(sn);
taskInfo.setId(traceid);
taskInfo.setTaskId(taskId);
+ taskInfo.setName(Bizidname);
taskInfo.setDeviceIds(addTaskDto.getDeviceid());
taskInfo.setCreateUser(username);
param.setTraceId(traceid);
- updateTaskInfo(traceid, taskId, addTaskDto.getDeviceid(), username);
+ taskInfoMapper.insert(taskInfo);
+
+ // 转换 TaskListDto 为 LotInfo
+ List<LotInfo> lotInfos = new ArrayList<>();
List<TaskListDto> tasklist = addTaskDto.getTasklist();
for (TaskListDto taskListDto : tasklist) {
- LotInfo lotInfo = new LotInfo();
- lotInfo = convertToLotInfo(taskListDto);
- lotInfo.setUserName(username);
+ LotInfo lotInfo = convertToLotInfo(taskListDto);
lotInfo.setTaskId(taskId);
- lotInfo.setWorkspaceId(workspaceId);
+ lotInfo.setType(0);
+ lotInfo.setTaskName(Bizidname);
+ lotInfo.setUserName(username);
+ lotInfos.add(lotInfo);
patchesMapper.insert(lotInfo);
}
- Long time = getCurrentTimestampPlus8Hours(14);
-// 获取未规划的图斑集合
- List<List<LotInfo>> lists = timerUtil.getNoPlan(workspaceId);
- List<List<LotInfo>> convertedLists = TimerUtil.convertToLists(lists);
- for (List<LotInfo> list : convertedLists) {
- String waylineName = TimerUtil.getTimeName();
- //根据获取的图斑集合获得kmz航线文件
- MultipartFile multipartFile = null;
- try {
- multipartFile = timerUtil.getFile(waylineName, list, 28.62452712442823, 115.85666327144976);
- } catch (IOException e) {
- throw new RuntimeException(e);
+ // 获取机场信息
+ List<Airport> airports = getAirportsBySn(listx);
+ List<AirportTasks> airportTasks = assignTasks(airports, lotInfos);
+
+ // 处理并插入图斑到数据库
+ processAndInsertTasks(airportTasks);
+
+ // 根据机场位置生成航线任务
+ for (AirportTasks airportTask : airportTasks) {
+ Airport airport = airportTask.getAirport();
+ List<LotInfo> lotInfosForAirport = airportTask.getTasks();
+
+ if (!lotInfosForAirport.isEmpty()) {
+ String waylineName = TimerUtil.getTimeName();
+ MultipartFile multipartFile = timerUtil.getFile(waylineName, lotInfosForAirport, airport.getLat(), airport.getLon());
+ WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, airport.getWorkspaceId(), username);
+
+ // 将为规划的图斑状态更新为已规划
+ Long time = getCurrentTimestampPlus8Hours(14);
+ List<List<Long>> listOfLists = new ArrayList<>();
+ List<Long> sublist = new ArrayList<>();
+ sublist.add(time);
+ listOfLists.add(sublist);
+ List<Long> lists1 = new ArrayList<>();
+ lists1.add(time);
+ String times = TimerUtil.convertTimestampToFormattedString(time);
+ param.setJobId(taskId);
+ timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, airport.getWorkspaceId() + "~" + taskId, airport.getDockSn());
+ timerUtil.updatePatchesStatu(lotInfosForAirport);
}
- //上传航线文件
- WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, workspaceId, username);
- updateJob(taskId, waylineFile.getWaylineId());
- param.setWaylineId(taskId);
- timerUtil.updatePatchesStatu(list);
}
+
return param;
}
@Override
public ResponseResult cancelTask(String taskId) {
LambdaUpdateWrapper<WaylineJobEntity> updateWrapper = new LambdaUpdateWrapper<>();
- updateWrapper.eq(WaylineJobEntity::getJobId, taskId)
+ updateWrapper.like(WaylineJobEntity::getJobId, taskId)
.set(WaylineJobEntity::getStatus, 4);
waylineJobMapper.update(null, updateWrapper);
return null;
+ }
+
+ public void processAndInsertTasks(List<AirportTasks> airportTasks) {
+ for (AirportTasks airportTasksEntry : airportTasks) {
+ Airport airport = airportTasksEntry.getAirport();
+ List<LotInfo> tasks = airportTasksEntry.getTasks();
+
+ // 处理每个任务
+ for (LotInfo lotInfo : tasks) {
+ lotInfo.setWorkspaceId(airport.getWorkspaceId()); // 设置 workspaceId
+ patchesMapper.updateById(lotInfo);
+ }
+ }
}
@Override
@@ -314,6 +353,7 @@
}
return null;
}
+
private static final String BASE_DIR = "src/main/resources/tmp";
/**
@@ -322,7 +362,7 @@
* @param taskId 任务 ID
* @return 匹配的 DB 文件路径列表
*/
- public List<String> findDbFilesByTaskId(String taskId) {
+ public List<String> findDbFilesByTaskId(String taskId) {
List<String> dbFilePaths = new ArrayList<>();
File baseDir = new File(BASE_DIR);
@@ -354,6 +394,10 @@
patchesMapper.delete(new LambdaUpdateWrapper<LotInfo>().eq(LotInfo::getTaskId, 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);
@@ -366,6 +410,11 @@
DeviceEntity entity = deviceMapper.selectOne(new LambdaQueryWrapper<DeviceEntity>()
.eq(DeviceEntity::getDeviceSn, devicesn));
return entity.getWorkspaceId();
+ }
+
+ 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 {
@@ -397,7 +446,7 @@
.latitude(entity.getLatitude())
.radius(entity.getRadius())
.regioncode(entity.getRegioncode())
- .deviceid(entity.getDeviceId())
+ .deviceid(entity.getDeviceSn())
.model(entity.getModel())
.build();
}
@@ -421,29 +470,67 @@
return (OsdSubDeviceReceiver) RedisOpsUtils.get(key);
}
-
- public DroneStateDto getAirportFromCache(String deviceId) {
- OsdSubDeviceReceiver receiver = getDroneFromCache(deviceId);
-
- if (receiver == null) {
- throw new IllegalArgumentException("Receiver data not found for device ID: " + deviceId);
- }
-
- DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();
-
- builder.gimbalYal(receiver.getAttitudeHead() != null ? receiver.getAttitudeHead() : 0.0)
- .gimbalPitch(receiver.getAttitudePitch() != null ? receiver.getAttitudePitch() : 0.0)
- .batteryCapacityPercent(receiver.getBattery() != null ? receiver.getBattery().getCapacityPercent() : 0)
- .height(receiver.getHeight() != null ? receiver.getHeight() : 0.0)
- .latitude(receiver.getLatitude() != null ? receiver.getLatitude() : 0.0)
- .longitude(receiver.getLongitude() != null ? receiver.getLongitude() : 0.0)
- .modeCode(receiver.getModeCode() != null ? receiver.getModeCode().getVal() : 0)
- .elevation(receiver.getElevation() != null ? receiver.getElevation() : 0.0)
- .gpsState(2);
-
- return builder.build();
+ public void delWaylineJob(String taskId) {
+ waylineJobMapper.delete(new LambdaQueryWrapper<WaylineJobEntity>().like(WaylineJobEntity::getJobId, taskId));
}
+ public DroneStateDto getAirportFromCache(String deviceId) {
+ 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();
+ }
+ OsdSubDeviceReceiver receiver = objectMapper.convertValue(deviceOsdOpt.get(), OsdSubDeviceReceiver.class);
+ DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();
+ 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();
@@ -523,6 +610,32 @@
}
+ public List<Airport> getAirportsBySn(List<String> snList) {
+ List<Airport> airports = new ArrayList<>();
+ // 查询所有设备
+ List<DeviceExpanSionEntity> entities = expanSionMapper.selectList(
+ new LambdaQueryWrapper<DeviceExpanSionEntity>().in(DeviceExpanSionEntity::getDeviceSn, snList)
+ );
+
+ // 使用一个Map来存储SN和经纬度的对应关系
+ Map<String, DeviceExpanSionEntity> entityMap = new HashMap<>();
+ for (DeviceExpanSionEntity entity : entities) {
+ entityMap.put(entity.getDeviceSn(), entity);
+ }
+
+ // 遍历SN列表，创建Airport对象
+ 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());
+ airports.add(airport);
+ }
+ }
+
+ return airports;
+ }
+
public static List<String> convertStringToList(String input) {
// 使用 Hutool 解析字符串
JSONArray jsonArray = JSONUtil.parseArray(input);
@@ -548,10 +661,6 @@
taskInfoMapper.update(taskInfo, updateWrapper);
}
- public void delWaylineFile(String waylineId) {
- fileMapper.delete(new LambdaUpdateWrapper<WaylineFileEntity>().eq(WaylineFileEntity::getWaylineId, waylineId));
- }
-
public void updateJob(String jobid, String waylineId) {
LambdaUpdateWrapper<WaylineJobEntity> updateWrapper = new LambdaUpdateWrapper<>();
updateWrapper.eq(WaylineJobEntity::getJobId, jobid)
@@ -560,5 +669,4 @@
// 调用 update 方法进行更新操作
waylineJobMapper.update(null, updateWrapper);
}
-
-}
\ No newline at end of file
+}
--
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