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 | 631 ++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 603 insertions(+), 28 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 62b4dea..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
@@ -1,39 +1,99 @@
package com.dji.sample.droneairport.service.impl;
-import com.dji.sample.droneairport.model.dto.DroneStateDto;
-import com.dji.sample.droneairport.model.param.AddDeviceParam;
-import com.dji.sample.droneairport.model.param.RegistParam;
+
+import cn.hutool.json.JSONArray;
+import cn.hutool.json.JSONObject;
+//import com.alibaba.fastjson.JSON;
+import cn.hutool.json.JSONUtil;
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.DeviceExpanSionMapper;
+import com.dji.sample.droneairport.model.Entity.DeviceExpanSionEntity;
+import com.dji.sample.droneairport.model.dto.*;
+import com.dji.sample.droneairport.model.param.ReturnTaskParam;
import com.dji.sample.droneairport.service.RegistService;
+import com.dji.sample.droneairport.utils.AuthUtil;
+import com.dji.sample.droneairport.utils.SM2.Utils;
+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;
+import com.dji.sample.patches.dao.TaskInfoMapper;
+import com.dji.sample.patches.model.entity.LotInfo;
+import com.dji.sample.patches.model.entity.TaskInfo;
+import com.dji.sample.patches.utils.TimerUtil;
+import com.dji.sample.wayline.dao.IWaylineFileMapper;
+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;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.http.*;
import org.springframework.stereotype.Service;
import org.springframework.web.client.RestTemplate;
+import org.springframework.web.multipart.MultipartFile;
-import java.util.List;
+import java.io.File;
+import java.io.IOException;
+import java.security.NoSuchAlgorithmException;
+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
public class RegistServiceImpl implements RegistService {
private final RestTemplate restTemplate = new RestTemplate();
private final ObjectMapper objectMapper = new ObjectMapper();
+ @Autowired
+ private IDeviceRedisService redisService;
+ @Autowired
+ private DeviceExpanSionMapper expanSionMapper;
+ @Autowired
+ private TaskInfoMapper taskInfoMapper;
+ @Autowired
+ private GetPatchesMapper patchesMapper;
+ @Autowired
+ private TimerUtil timerUtil;
+ @Autowired
+ private IDeviceMapper deviceMapper;
+ @Autowired
+ private IWaylineJobMapper waylineJobMapper;
+ @Autowired
+ private IWaylineFileMapper fileMapper;
- public String registPort(RegistParam param) {
+ public String registPort(DeviceExpanSionEntity airport) {
try {
+ RegistDto registDto = airportEntityToDto(airport);
// 构建请求体
- String jsonBody = buildRequestBody(param);
+ String jsonBody = buildRequestBody(registDto);
+ // 设置请求头
+ String base64 = SM4Util.encrypt("jsimjrby3wqb7dbq", jsonBody);
// 设置请求头
HttpHeaders headers = new HttpHeaders();
headers.setContentType(MediaType.APPLICATION_JSON);
headers.setAccept(List.of(MediaType.APPLICATION_JSON, MediaType.TEXT_PLAIN, MediaType.ALL));
headers.set("Accept-Language", "zh-CN,zh;q=0.9");
headers.setConnection("keep-alive");
- headers.set("x-auth-token", "");
- headers.set("x-lc-token","");
+ headers.set("x-lc-token", AuthUtil.getToken());
+ headers.set("x-lc-secret", Utils.hexToBase64(Utils.encrypt("jsimjrby3wqb7dbq", "044D6061FC08A19D3F32CEAA8CF6679B40500008FD741FC26DE7E50AEBF3A9115D47274437730EADEDAEF0CCC4853C5F0B35B30C6AEA83A5F6FBCA4ABEAC9E3B98")));
// 构建请求实体
- HttpEntity<String> requestEntity = new HttpEntity<>(jsonBody, headers);
+ HttpEntity<String> requestEntity = new HttpEntity<>(base64, headers);
// 发送请求
ResponseEntity<String> response = restTemplate.exchange(
- "https://wrj.shuixiongit.com/drone-api/droneAirport/test",
+ "https://xcx.geoway.com.cn:8033/v1/droneAirport/RegistService",
HttpMethod.POST,
requestEntity,
String.class);
@@ -41,57 +101,572 @@
} 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());
}
}
- private String buildRequestBody(RegistParam param) {
+ private String buildRequestBody(RegistDto dto) {
try {
- return objectMapper.writeValueAsString(param);
+ return objectMapper.writeValueAsString(dto);
} catch (JsonProcessingException e) {
throw new RuntimeException("数据有误", e);
}
}
@Override
- public String addDrone(AddDeviceParam param) {
+ public String addDrone(String workspaceId) {
try {
+ DeviceExpanSionEntity airport = expanSionMapper.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
+ .eq(DeviceExpanSionEntity::getWorkspaceId, workspaceId)
+ .eq(DeviceExpanSionEntity::getType, 0));
+ DeviceExpanSionEntity drone = expanSionMapper.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
+ .eq(DeviceExpanSionEntity::getWorkspaceId, workspaceId)
+ .eq(DeviceExpanSionEntity::getType, 1));
+ AddDeviceDto dto = deviceEntityToDto(drone);
// 构建请求体
- String jsonBody = buildRequestBody(param);
+ String jsonBody = buildRequestBody(dto);
+ String base64 = SM4Util.encrypt("jsimjrby3wqb7dbq", jsonBody);
+ String secret = enSM2("jsimjrby3wqb7dbq", "044D6061FC08A19D3F32CEAA8CF6679B40500008FD741FC26DE7E50AEBF3A9115D47274437730EADEDAEF0CCC4853C5F0B35B30C6AEA83A5F6FBCA4ABEAC9E3B98");
// 设置请求头
HttpHeaders headers = new HttpHeaders();
headers.setContentType(MediaType.APPLICATION_JSON);
headers.setAccept(List.of(MediaType.APPLICATION_JSON, MediaType.TEXT_PLAIN, MediaType.ALL));
headers.set("Accept-Language", "zh-CN,zh;q=0.9");
headers.setConnection("keep-alive");
- headers.set("x-auth-token", "");
- headers.set("x-lc-token","");
+ headers.set("x-lc-token", AuthUtil.getToken());
+ headers.set("x-lc-secret", secret);
+
// 构建请求实体
- HttpEntity<String> requestEntity = new HttpEntity<>(jsonBody, headers);
+ HttpEntity<String> requestEntity = new HttpEntity<>(base64, headers);
+
// 发送请求
- ResponseEntity<String> response = restTemplate.exchange(
- "https://wrj.shuixiongit.com/drone-api/droneAirport/test",
- HttpMethod.POST,
- requestEntity,
- String.class);
- return response.getBody();
+ RestTemplate restTemplate = new RestTemplate();
+ String response = restTemplate.postForObject("https://xcx.geoway.com.cn:8033/v1/droneAirport/addDevice", requestEntity, String.class);
+ registPort(airport);
+ return response;
} 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 DroneStateDto getDroneState(String deviceId) {
+ public String getDroneState(String deviceId) throws Exception {
+ DroneStateDto data = getAirportFromCache(deviceId);
+ String json = JSON.toJSONString(data);
+ String SM4Screct = SM4Util.encrypt("jsimjrby3wqb7dbq", json);
+ return SM4Screct;
+ }
+
+ @Override
+ public ResponseResult authorization(String base64, String Secret) throws Exception {
+ String sm4Secrect = deSM2(Secret, "23E57DA1E4AB865CCBC325B668762207DEF74345B782237808AE0BABDF26734D");
+ String decryptedJson = SM4Util.decrypt(sm4Secrect, base64);
+ JSONObject jsonObject = new JSONObject(decryptedJson);
+ String deviceId = jsonObject.getStr("deviceid");
+ boolean online = redisService.checkDeviceOnline(deviceId);
+ if (online) {
+ return ResponseResult.success(200, "无人机机场授权成功！", "", "");
+ }
+ return ResponseResult.error(500, "无人机机场授权失败！");
+ }
+
+ @Override
+ public ReturnTaskParam AddTask(String base64, String Secret, String username) throws Exception {
+ ReturnTaskParam param = new ReturnTaskParam();
+ String taskId = UUID.randomUUID().toString();
+ String traceid = UUID.randomUUID().toString();
+ String sm4Secrect = deSM2(Secret, "23E57DA1E4AB865CCBC325B668762207DEF74345B782237808AE0BABDF26734D");
+ String decryptedJson = SM4Util.decrypt(sm4Secrect, base64);
+ JSONObject jsonObject = new JSONObject(decryptedJson);
+ AddTaskDto addTaskDto = jsonToDto(jsonObject);
+ TaskInfo taskInfo = new TaskInfo();
+ List<String> listx = convertStringToList(addTaskDto.getDeviceid());
+ taskInfo.setId(traceid);
+ taskInfo.setTaskId(taskId);
+ taskInfo.setName(addTaskDto.getBizidname());
+ taskInfo.setDeviceIds(addTaskDto.getDeviceid());
+ 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 = convertToLotInfo(taskListDto);
+ lotInfo.setTaskId(taskId);
+ lotInfo.setType(0);
+ lotInfo.setTaskName(addTaskDto.getBizidname());
+ lotInfo.setUserName(username);
+ lotInfos.add(lotInfo);
+ patchesMapper.insert(lotInfo);
+ }
+
+ // 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);
+ }
+ }
+
+ return param;
+ }
+
+
+ @Override
+ public ReturnTaskParam updateTask(String base64, String Secret, String username) throws Exception {
+ ReturnTaskParam param = new ReturnTaskParam();
+ String traceid = UUID.randomUUID().toString();
+ String sm4Secrect = deSM2(Secret, "23E57DA1E4AB865CCBC325B668762207DEF74345B782237808AE0BABDF26734D");
+ String decryptedJson = SM4Util.decrypt(sm4Secrect, base64);
+ JSONObject jsonObject = new JSONObject(decryptedJson);
+ UpdataTaskDto addTaskDto = UpjsonToDto(jsonObject);
+ String taskId = addTaskDto.getTaskid();
+ String Bizidname = getBizidnameByTask(taskId);
+ delPatchesByTaskId(taskId);
+ delTaskInfo(taskId);
+ delWaylineJob(taskId);
+ TaskInfo taskInfo = new TaskInfo();
+ List<String> listx = convertStringToList(addTaskDto.getDeviceid());
+ taskInfo.setId(traceid);
+ taskInfo.setTaskId(taskId);
+ taskInfo.setName(Bizidname);
+ taskInfo.setDeviceIds(addTaskDto.getDeviceid());
+ 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 = convertToLotInfo(taskListDto);
+ lotInfo.setTaskId(taskId);
+ lotInfo.setType(0);
+ lotInfo.setTaskName(Bizidname);
+ lotInfo.setUserName(username);
+ lotInfos.add(lotInfo);
+ patchesMapper.insert(lotInfo);
+ }
+
+ // 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);
+ }
+ }
+
+ return param;
+ }
+
+ @Override
+ public ResponseResult cancelTask(String taskId) {
+ LambdaUpdateWrapper<WaylineJobEntity> updateWrapper = new LambdaUpdateWrapper<>();
+ updateWrapper.like(WaylineJobEntity::getJobId, taskId)
+ .set(WaylineJobEntity::getStatus, 4);
+ waylineJobMapper.update(null, updateWrapper);
return null;
}
- private String buildRequestBody(AddDeviceParam param) {
+ 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
+ public ResponseResult queryTaskStatus(String taskid) {
+ WaylineJobEntity jobEntity = waylineJobMapper.selectOne(new LambdaQueryWrapper<WaylineJobEntity>().eq(WaylineJobEntity::getJobId, taskid));
+ if (jobEntity == null) {
+ return ResponseResult.error(201, "查询无人机机场任务状态失败！");
+ }
+ int code = jobEntity.getStatus();
+
+ //1: 待执行; 2: 执行中; 3: 完成; 4: 取消; 5: 失败
+ if (code == 1) {
+ return ResponseResult.success(200, "查询无人机机场任务状态成功！", "", "");
+ } else if (code == 2) {
+ return ResponseResult.success(202, "查询无人机机场任务状态成功！", "", "");
+ } else if (code == 3) {
+ return ResponseResult.success(203, "查询无人机机场任务状态成功！", "", "");
+ } else if (code == 4) {
+ return ResponseResult.success(204, "查询无人机机场任务状态成功！", "", "");
+ } else if (code == 5) {
+ return ResponseResult.success(205, "查询无人机机场任务状态成功！", "", "");
+ }
+ return null;
+ }
+
+ private static final String BASE_DIR = "src/main/resources/tmp";
+
+ /**
+ * 根据任务 ID 查找对应的 DB 文件路径
+ *
+ * @param taskId 任务 ID
+ * @return 匹配的 DB 文件路径列表
+ */
+ public List<String> findDbFilesByTaskId(String taskId) {
+ List<String> dbFilePaths = new ArrayList<>();
+ File baseDir = new File(BASE_DIR);
+
+ // 检查基础目录是否存在
+ if (!baseDir.exists() || !baseDir.isDirectory()) {
+ throw new IllegalStateException("Base directory does not exist or is not a directory.");
+ }
+
+ // 遍历基础目录下的所有文件夹
+ File[] subDirs = baseDir.listFiles(File::isDirectory);
+ if (subDirs != null) {
+ for (File subDir : subDirs) {
+ // 如果文件夹名称包含任务 ID，则查找该文件夹中的 DB 文件
+ if (subDir.getName().contains(taskId)) {
+ File[] files = subDir.listFiles((dir, name) -> name.endsWith(".db"));
+ if (files != null) {
+ for (File file : files) {
+ dbFilePaths.add(file.getAbsolutePath());
+ }
+ }
+ }
+ }
+ }
+
+ return dbFilePaths;
+ }
+
+ public void delPatchesByTaskId(String taskId) {
+ 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(param);
+ return objectMapper.writeValueAsString(dto);
} catch (JsonProcessingException e) {
throw new RuntimeException("数据有误", e);
}
}
+
+ public String getWorkspaceId(String devicesn) {
+ 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 {
+ String encrypt = Utils.encrypt(data, pubKey);
+ encrypt = Utils.hexToBase64(encrypt);
+ return encrypt;
+ }
+
+ public static String deSM2(String Base64, String priKey) throws Exception {
+ String hex = Utils.convertBase64ToHex(Base64);
+ return Utils.decrypt(hex, priKey);
+ }
+
+
+ public static Map<String, String> createKey() throws NoSuchAlgorithmException {
+ Map<String, String> keyPair = Utils.createKeyPair();
+ Map<String, String> newKey = new HashMap<>();
+ newKey.put("publicKey", keyPair.get("pbcky"));
+ newKey.put("privateKey", keyPair.get("pveky"));
+ return newKey;
+ }
+
+ public AddDeviceDto deviceEntityToDto(DeviceExpanSionEntity entity) {
+ AddDeviceDto.AddDeviceDtoBuilder builder = AddDeviceDto.builder();
+ if (entity != null) {
+ builder.brand(entity.getBrand())
+ .height(entity.getHeight())
+ .longitude(entity.getLongitude())
+ .latitude(entity.getLatitude())
+ .radius(entity.getRadius())
+ .regioncode(entity.getRegioncode())
+ .deviceid(entity.getDeviceSn())
+ .model(entity.getModel())
+ .build();
+ }
+ return builder.build();
+ }
+
+ public RegistDto airportEntityToDto(DeviceExpanSionEntity entity) {
+ RegistDto.RegistDtoBuilder builder = RegistDto.builder();
+ if (entity != null) {
+ builder.serviceUrl(entity.getServiceUrl())
+ .contacts(entity.getContracts())
+ .phone(entity.getPhone())
+ .liveStreamPluginUrl(entity.getLiveStreamPluginUrl())
+ .build();
+ }
+ return builder.build();
+ }
+
+ public OsdSubDeviceReceiver getDroneFromCache(String sn) {
+ String key = "osd:" + sn;
+ return (OsdSubDeviceReceiver) RedisOpsUtils.get(key);
+ }
+
+ 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();
+ String deviceid = jsonObject.getStr("deviceid");
+ dto.setDeviceid(deviceid);
+ dto.setBizidname(jsonObject.getStr("bizidname"));
+ JSONArray taskListArray = jsonObject.getJSONArray("tasklist");
+ if (taskListArray != null) {
+ List<TaskListDto> taskList = new ArrayList<>();
+ for (int i = 0; i < taskListArray.size(); i++) {
+ JSONObject taskObject = taskListArray.getJSONObject(i);
+ if (taskObject != null) {
+ TaskListDto task = new TaskListDto();
+ task.bsm = taskObject.getStr("bsm");
+ task.xzqdm = taskObject.getStr("xzqdm");
+ task.dkbh = taskObject.getStr("dkbh");
+ task.dklx = taskObject.getStr("dklx");
+ task.zdkbh = taskObject.getStr("zdkbh");
+ task.dkmc = taskObject.getStr("dkmc");
+ task.dkmj = taskObject.getDouble("dkmj");
+ task.dkfw = taskObject.getStr("dkfw");
+ task.bz = taskObject.getStr("bz");
+ taskList.add(task);
+ }
+ }
+ dto.tasklist = taskList;
+ }
+
+ return dto;
+ }
+
+ public static UpdataTaskDto UpjsonToDto(JSONObject jsonObject) {
+ UpdataTaskDto dto = new UpdataTaskDto();
+ String deviceid = jsonObject.getStr("deviceid");
+ String taskid = jsonObject.getStr("taskid");
+ dto.setDeviceid(deviceid);
+ dto.setTaskid(taskid);
+ JSONArray taskListArray = jsonObject.getJSONArray("tasklist");
+ if (taskListArray != null) {
+ List<TaskListDto> taskList = new ArrayList<>();
+ for (int i = 0; i < taskListArray.size(); i++) {
+ JSONObject taskObject = taskListArray.getJSONObject(i);
+ if (taskObject != null) {
+ TaskListDto task = new TaskListDto();
+ task.bsm = taskObject.getStr("bsm");
+ task.xzqdm = taskObject.getStr("xzqdm");
+ task.dkbh = taskObject.getStr("dkbh");
+ task.dklx = taskObject.getStr("dklx");
+ task.zdkbh = taskObject.getStr("zdkbh");
+ task.dkmc = taskObject.getStr("dkmc");
+ task.dkmj = taskObject.getDouble("dkmj");
+ task.dkfw = taskObject.getStr("dkfw");
+ task.bz = taskObject.getStr("bz");
+ taskList.add(task);
+ }
+ }
+ dto.tasklist = taskList;
+ }
+
+ return dto;
+ }
+
+ public static LotInfo convertToLotInfo(TaskListDto taskListDto) {
+ if (taskListDto == null) {
+ return null;
+ }
+ return LotInfo.builder()
+ .bsm(taskListDto.bsm)
+ .dklx(taskListDto.dklx)
+ .xzqdm(taskListDto.xzqdm)
+ .dkbh(taskListDto.dkbh)
+ .dkmc(taskListDto.dkmc)
+ .dkmj(taskListDto.dkmj)
+ .dkfw(taskListDto.dkfw)
+ .bz(taskListDto.bz)
+ .build();
+ }
+
+
+ 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);
+
+ // 将 JSONArray 转换为 List<String>
+ return jsonArray.stream()
+ .map(Object::toString)
+ .collect(Collectors.toList());
+ }
+
+ public void updateTaskInfo(String traceid, String taskId, String deviceIds, String username) {
+ TaskInfo taskInfo = new TaskInfo();
+ taskInfo.setId(traceid);
+ taskInfo.setTaskId(taskId);
+ taskInfo.setDeviceIds(deviceIds);
+ taskInfo.setCreateUser(username);
+
+ LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+ updateWrapper.eq(TaskInfo::getId, traceid);
+ updateWrapper.eq(TaskInfo::getTaskId, taskId);
+
+ // 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)
+ .set(WaylineJobEntity::getFileId, waylineId);
+
+ // 调用 update 方法进行更新操作
+ waylineJobMapper.update(null, updateWrapper);
+ }
}
--
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