From 34f84d91c4c0fee4832f93c2b0e332f2bc868c7b Mon Sep 17 00:00:00 2001
From: xieb <vip_xiaobin810@163.com>
Date: Tue, 16 Apr 2024 16:41:46 +0800
Subject: [PATCH] 断点续飞
---
src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java | 438 ++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 357 insertions(+), 81 deletions(-)
diff --git a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
index 511416d..56955a2 100644
--- a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
+++ b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
@@ -1,32 +1,41 @@
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.common.util.SpringBeanUtils;
import com.dji.sample.component.mqtt.model.*;
import com.dji.sample.component.mqtt.service.IMessageSenderService;
import com.dji.sample.component.redis.RedisConst;
import com.dji.sample.component.redis.RedisOpsUtils;
-import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
+import com.dji.sample.component.websocket.model.BizCodeEnum;
import com.dji.sample.component.websocket.service.ISendMessageService;
-import com.dji.sample.component.websocket.service.IWebSocketManageService;
-import com.dji.sample.control.model.enums.RemoteControlMethodEnum;
-import com.dji.sample.control.model.param.RemoteDebugParam;
+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.*;
+import com.dji.sample.control.model.param.*;
import com.dji.sample.control.service.IControlService;
import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import com.dji.sample.manage.model.enums.UserTypeEnum;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
+import com.dji.sample.manage.service.IDevicePayloadService;
+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;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.integration.annotation.ServiceActivator;
-import org.springframework.integration.mqtt.support.MqttHeaders;
import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
-import java.util.Objects;
-import java.util.UUID;
+import java.util.*;
/**
* @author sean
@@ -38,79 +47,91 @@
public class ControlServiceImpl implements IControlService {
@Autowired
- private RedisOpsUtils redisOps;
-
- @Autowired
private IMessageSenderService messageSenderService;
@Autowired
private ISendMessageService webSocketMessageService;
@Autowired
- private IWebSocketManageService webSocketManageService;
+ private IDeviceService deviceService;
@Autowired
- private IDeviceService deviceService;
+ private IDeviceRedisService deviceRedisService;
@Autowired
private ObjectMapper mapper;
- @Override
- public ResponseResult controlDock(String sn, String serviceIdentifier, RemoteDebugParam param) {
- RemoteControlMethodEnum controlMethodEnum = RemoteControlMethodEnum.find(serviceIdentifier);
- if (RemoteControlMethodEnum.UNKNOWN == controlMethodEnum) {
- return ResponseResult.error("The " + serviceIdentifier + " method does not exist.");
- }
+ @Autowired
+ private IDevicePayloadService devicePayloadService;
- // Add parameter validation.
- if (Objects.nonNull(controlMethodEnum.getClazz())) {
- if (Objects.isNull(param)) {
- return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT);
- }
- BasicDeviceProperty basicDeviceProperty = mapper.convertValue(param.getAction(), controlMethodEnum.getClazz());
- if (!basicDeviceProperty.valid()) {
- return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT);
- }
+ private RemoteDebugHandler checkDebugCondition(String sn, RemoteDebugParam param, RemoteDebugMethodEnum controlMethodEnum) {
+ RemoteDebugHandler handler = Objects.nonNull(controlMethodEnum.getClazz()) ?
+ mapper.convertValue(Objects.nonNull(param) ? param : new Object(), controlMethodEnum.getClazz())
+ : new RemoteDebugHandler();
+ if (!handler.canPublish(sn)) {
+ throw new RuntimeException("当前的机场状态不支持此功能。");
}
-
- boolean isExist = deviceService.checkDeviceOnline(sn);
- if (!isExist) {
- return ResponseResult.error("The dock is offline.");
+ if (Objects.nonNull(param) && !handler.valid()) {
+ throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
}
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + sn + TopicConst.SERVICES_SUF;
- String bid = UUID.randomUUID().toString();
- ServiceReply serviceReplyOpt = messageSenderService.publishWithReply(
- topic, CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(bid)
- .method(serviceIdentifier)
- .timestamp(System.currentTimeMillis())
- .data(Objects.requireNonNullElse(param, ""))
- .build());
-
- ServiceReply<EventsOutputReceiver> serviceReply = mapper.convertValue(
- serviceReplyOpt, new TypeReference<ServiceReply<EventsOutputReceiver>>() {});
- if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
- return ResponseResult.error(serviceReply.getResult(), serviceReply.getOutput().getStatus());
- }
- if (controlMethodEnum.getProgress()) {
- redisOps.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
- RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
- }
- return ResponseResult.success();
+ return handler;
}
@Override
- @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND)
- public void handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
- String key = receiver.getMethod() + RedisConst.DELIMITER + receiver.getBid();
- if (redisOps.getExpire(key) <= 0) {
- return;
+ public ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param) {
+ RemoteDebugMethodEnum controlMethodEnum = RemoteDebugMethodEnum.find(serviceIdentifier);
+ if (RemoteDebugMethodEnum.UNKNOWN == controlMethodEnum) {
+ return ResponseResult.error(" 没有找到" + serviceIdentifier + " 这个指令。");
}
- String sn = redisOps.get(key).toString();
- EventsReceiver<EventsOutputReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
- new TypeReference<EventsReceiver<EventsOutputReceiver>>(){});
+ RemoteDebugHandler data = checkDebugCondition(sn, param, controlMethodEnum);
+
+ boolean isExist = deviceRedisService.checkDeviceOnline(sn);
+ if (!isExist) {
+ return ResponseResult.error("设备离线");
+ }
+ String bid = UUID.randomUUID().toString();
+ ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, serviceIdentifier, data, bid);
+
+ if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
+ return ResponseResult.error(serviceReply.getResult(),
+ "error: " + serviceIdentifier + serviceReply.getResult());
+ }
+ if (controlMethodEnum.getProgress()) {
+ RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
+ RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
+ }
+
+ //当执行返航指令时，删除图斑redis
+ if (serviceIdentifier == "return_home"){
+ if (RedisOpsUtils.checkExist("tuban:" + sn)){
+ RedisOpsUtils.del("tuban:" + sn);
+ }
+ }
+
+
+
+ return ResponseResult.success();
+ }
+
+ /**
+ * Handles multi-state command progress information.
+ *
+ * @param receiver
+ * @param headers
+ * @return
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+ String key = receiver.getMethod() + RedisConst.DELIMITER + receiver.getBid();
+ if (RedisOpsUtils.getExpire(key) <= 0) {
+ return receiver;
+ }
+ String sn = RedisOpsUtils.get(key).toString();
+
+ EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
+ new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>() {
+ });
eventsReceiver.setBid(receiver.getBid());
eventsReceiver.setSn(sn);
@@ -123,29 +144,284 @@
if (eventsReceiver.getOutput().getProgress().getPercent() == 100 ||
EventsResultStatusEnum.find(eventsReceiver.getOutput().getStatus()).getEnd()) {
- redisOps.del(key);
+ RedisOpsUtils.del(key);
}
- DeviceDTO device = (DeviceDTO) redisOps.get(RedisConst.DEVICE_ONLINE_PREFIX + sn);
- webSocketMessageService.sendBatch(
- webSocketManageService.getValueWithWorkspaceAndUserType(
- device.getWorkspaceId(), UserTypeEnum.WEB.getVal()),
- CustomWebSocketMessage.builder()
- .data(eventsReceiver)
- .timestamp(System.currentTimeMillis())
- .bizCode(receiver.getMethod())
- .build());
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
- if (receiver.getNeedReply() != null && receiver.getNeedReply() == 1) {
- String topic = headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF;
- messageSenderService.publish(topic,
- CommonTopicResponse.builder()
- .tid(receiver.getTid())
- .bid(receiver.getBid())
- .method(receiver.getMethod())
- .timestamp(System.currentTimeMillis())
- .data(RequestsReply.success())
- .build());
+ if (deviceOpt.isEmpty()) {
+ throw new RuntimeException("设备离线.");
+ }
+
+ DeviceDTO device = deviceOpt.get();
+ webSocketMessageService.sendBatch(device.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ receiver.getMethod(), eventsReceiver);
+
+ return receiver;
+ }
+
+ private void checkFlyToCondition(String dockSn) {
+ // TODO 设备固件版本不兼容情况
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (dockOpt.isEmpty()) {
+ throw new RuntimeException("机场离线请重启机场");
+ }
+
+ DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
+ if (DeviceModeCodeEnum.MANUAL != deviceMode) {
+ throw new RuntimeException("无人机当前状态不支持此功能，请稍后再试");
+ }
+
+ ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
+ if (ResponseResult.CODE_SUCCESS != result.getCode()) {
+ throw new IllegalArgumentException(result.getMessage());
}
}
+
+ @Override
+ public ResponseResult flyToPoint(String sn, FlyToPointParam param) {
+ checkFlyToCondition(sn);
+
+ param.setFlyToId(UUID.randomUUID().toString());
+ ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT.getMethod(), param, param.getFlyToId());
+ return ResponseResult.CODE_SUCCESS != reply.getResult() ?
+ ResponseResult.error("飞向目标点失败。" + reply.getResult())
+ : ResponseResult.success();
+ }
+
+ @Override
+ public ResponseResult flyToPointStop(String sn) {
+ ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT_STOP.getMethod(), null);
+ return ResponseResult.CODE_SUCCESS != reply.getResult() ?
+ ResponseResult.error("飞向目标点的无人机停止失败" + reply.getResult())
+ : ResponseResult.success();
+ }
+
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception {
+ String dockSn = receiver.getGateway();
+
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (deviceOpt.isEmpty()) {
+ log.error("机场离线");
+ return null;
+ }
+
+ 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)
+ .message(WaylineErrorCodeEnum.SUCCESS == eventsReceiver.getResult() ?
+ eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
+ .result(eventsReceiver.getResult().getErrorCode())
+ .build());
+ //当飞向目标点成功后
+ 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");
+ String payloadIndex = jsonObject.getString("payloadIndex");
+ flyToNextPoint(targetList, curIndex+1, dockSn, payloadIndex);
+ }
+ }
+ return receiver;
+ }
+
+ @Override
+ public ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception {
+ //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) {
+
+ //执行拍照
+ ResponseResult responseResult = takePhoto(sn, payloadIndex);
+
+ //发布飞行指令
+ 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);
+
+ //发布下一个飞行指令
+ ResponseResult flyToRes = flyToPoint(sn, flyToPointParam);
+ if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
+ JSONObject jsonObject = new JSONObject();
+ jsonObject.put("targetList", targetList);
+ jsonObject.put("curIndex", curIndex);
+ jsonObject.put("payloadIndex",payloadIndex);
+ RedisOpsUtils.set("tuban:" + sn, jsonObject);
+ }
+ return flyToRes;
+
+ }
+ }
+ }
+ }
+
+ @Override
+ public ResponseResult takePhoto(String sn, String payloadIndex) throws Exception {
+
+ //获取负载控制权
+ DronePayloadParam dronePayloadParam = new DronePayloadParam();
+ dronePayloadParam.setPayloadIndex(payloadIndex);
+
+ ResponseResult seizeAuthorityRes = seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, dronePayloadParam);
+
+ //切换为相机模式
+ if (seizeAuthorityRes.getCode() != ResponseResult.CODE_SUCCESS) {
+ return seizeAuthorityRes;
+ }
+
+ PayloadCommandsParam payloadCommandsParam = new PayloadCommandsParam();
+
+// DronePayloadParam switchParam = new DronePayloadParam();
+// switchParam.setCameraMode(CameraModeEnum.PHOTO);
+// switchParam.setPayloadIndex(payloadIndex);
+
+// payloadCommandsParam.setSn(sn);
+// payloadCommandsParam.setCmd(PayloadCommandsEnum.CAMERA_MODE_SWitCH);
+// payloadCommandsParam.setData(switchParam);
+//
+// ResponseResult switchModeRes = payloadCommands(payloadCommandsParam);
+
+// if (switchModeRes.getCode() != ResponseResult.CODE_SUCCESS){
+// return switchModeRes;
+// }
+ //拍照
+ payloadCommandsParam.setCmd(PayloadCommandsEnum.CAMERA_PHOTO_TAKE);
+ DronePayloadParam takePhotoParam = new DronePayloadParam();
+ takePhotoParam.setPayloadIndex(payloadIndex);
+
+ payloadCommandsParam.setData(takePhotoParam);
+ payloadCommandsParam.setSn(sn);
+
+ ResponseResult responseResult = payloadCommands(payloadCommandsParam);
+
+ return responseResult;
+ }
+
+
+ private void checkTakeoffCondition(String dockSn) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (dockOpt.isEmpty() || DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) {
+ throw new RuntimeException("当前状态不支持起飞");
+ }
+
+ ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
+ if (ResponseResult.CODE_SUCCESS != result.getCode()) {
+ throw new IllegalArgumentException(result.getMessage());
+ }
+
+ }
+
+ @Override
+ public ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param) {
+ checkTakeoffCondition(sn);
+ if (!StringUtils.hasText(param.getFlightId())){
+ param.setFlightId(UUID.randomUUID().toString());
+ }
+ ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.TAKE_OFF_TO_POINT.getMethod(), param, param.getFlightId());
+ return ResponseResult.CODE_SUCCESS != reply.getResult() ?
+ ResponseResult.error("无人机起飞失败 " + reply.getResult())
+ : ResponseResult.success();
+ }
+
+ @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();
+
+ 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>() {
+ });
+
+ webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(),
+ ResultNotifyDTO.builder().sn(dockSn)
+ .message(WaylineErrorCodeEnum.SUCCESS == eventsReceiver.getResult() ?
+ eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
+ .result(eventsReceiver.getResult().getErrorCode())
+ .build());
+
+ return receiver;
+ }
+
+ @Override
+ public ResponseResult seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param) {
+ String method;
+ switch (authority) {
+ case FLIGHT:
+ if (deviceService.checkAuthorityFlight(sn)) {
+ return ResponseResult.success();
+ }
+ method = DroneControlMethodEnum.FLIGHT_AUTHORITY_GRAB.getMethod();
+ break;
+ case PAYLOAD:
+ if (checkPayloadAuthority(sn, param.getPayloadIndex())) {
+ return ResponseResult.success();
+ }
+ method = DroneControlMethodEnum.PAYLOAD_AUTHORITY_GRAB.getMethod();
+ break;
+ default:
+ return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT);
+ }
+ ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, method, param);
+ return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
+ ResponseResult.error(serviceReply.getResult(), "方法: " + method + " 错误码：" + serviceReply.getResult())
+ : ResponseResult.success();
+ }
+
+ private Boolean checkPayloadAuthority(String sn, String payloadIndex) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
+ if (dockOpt.isEmpty()) {
+ throw new RuntimeException("机场离线请重启机场");
+ }
+ return devicePayloadService.checkAuthorityPayload(dockOpt.get().getChildDeviceSn(), payloadIndex);
+ }
+
+
+ @Override
+ public ResponseResult payloadCommands(PayloadCommandsParam param) throws Exception {
+ param.getCmd().getClazz()
+ .getDeclaredConstructor(DronePayloadParam.class)
+ .newInstance(param.getData())
+ .checkCondition(param.getSn());
+
+ ServiceReply serviceReply = messageSenderService.publishServicesTopic(param.getSn(), param.getCmd().getCmd(), param.getData());
+ return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
+ ResponseResult.error(serviceReply.getResult(), "错误码：" + serviceReply.getResult())
+ : ResponseResult.success();
+ }
+
+ @Override
+ 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())
+ : ResponseResult.success();
+ }
+
}
--
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