From 39ffdf5754b4ebca682bd3c925f7a500e8a1bbda Mon Sep 17 00:00:00 2001
From: aix <vip_xiaobin810@163.com>
Date: Thu, 08 Aug 2024 16:56:36 +0800
Subject: [PATCH] 国土调查云身份凭证token
---
src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java | 37 ++++++++++++++++++++++++++++++-------
1 files changed, 30 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java b/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
index 68666c7..1f5307c 100644
--- a/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
+++ b/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
@@ -1,5 +1,6 @@
package com.dji.sample.control.service.impl;
+import com.alibaba.fastjson.JSONObject;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.mqtt.config.MqttConfiguration;
import com.dji.sample.component.mqtt.model.*;
@@ -18,6 +19,7 @@
import com.dji.sample.control.service.IControlService;
import com.dji.sample.control.service.IDrcService;
import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.enums.DockDrcStateEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import com.dji.sample.manage.model.enums.UserTypeEnum;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
@@ -26,6 +28,7 @@
import com.dji.sample.wayline.model.dto.WaylineTaskProgressReceiver;
import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
import com.dji.sample.wayline.model.enums.WaylineTaskStatusEnum;
+import com.dji.sample.wayline.model.param.PointPOJO;
import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
@@ -63,10 +66,10 @@
@Autowired
private IDeviceService deviceService;
-
+
@Autowired
private ObjectMapper mapper;
-
+
@Autowired
private ISendMessageService webSocketMessageService;
@@ -149,7 +152,7 @@
String pubTopic = topic + TopicConst.DOWN;
String subTopic = topic + TopicConst.UP;
- // If the dock is in drc mode, refresh the permissions directly.
+ // If the dock is in drc mode, refresh the permissions directly. 如果dock处于drc模式，直接刷新权限
if (deviceService.checkDockDrcMode(param.getDockSn())
&& param.getClientId().equals(this.getDrcModeInRedis(param.getDockSn()))) {
refreshAcl(param.getDockSn(), param.getClientId(), topic, subTopic);
@@ -170,7 +173,7 @@
.build());
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
- throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" + reply.getResult() + "; Failed to enter command flight control mode, please try again later!");
+ throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" + reply.getResult() + "; 进入命令飞行控制模式失败，请稍后再试!");
}
refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic);
@@ -190,13 +193,13 @@
@Override
public void deviceDrcExit(String workspaceId, DrcModeParam param) {
if (!deviceService.checkDockDrcMode(param.getDockSn())) {
- throw new RuntimeException("The dock is not in flight control mode.");
+ throw new RuntimeException("机场没有进入飞行控制模式");
}
ServiceReply reply = messageSenderService.publishServicesTopic(
param.getDockSn(), DrcMethodEnum.DRC_MODE_EXIT.getMethod(), "");
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" +
- reply.getResult() + "; Failed to exit command flight control mode, please try again later!");
+ reply.getResult() + "; 命令飞行控制模式退出失败，请稍后再试!");
}
String jobId = waylineRedisService.getPausedWaylineJobId(param.getDockSn());
@@ -209,7 +212,7 @@
}
@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
- public CommonTopicReceiver handleDrcStatusNotify(CommonTopicReceiver receiver, MessageHeaders headers) {
+ public CommonTopicReceiver handleDrcStatusNotify(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception {
String dockSn = receiver.getGateway();
Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
@@ -225,6 +228,26 @@
.message(eventsReceiver.getResult().getErrorMsg())
.result(eventsReceiver.getResult().getErrorCode()).build());
}
+
+ //当进入控制时，停止当前的图斑飞行
+ if (eventsReceiver.getDrcState()==DockDrcStateEnum.CONNECTED){
+ JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
+ if (jsonObject != null) {
+ controlService.flyToPointStop(dockSn);
+ }
+ }
+
+ //当退出控制后，继续执行图斑飞行
+ if(eventsReceiver.getDrcState() == DockDrcStateEnum.DISCONNECTED){
+ 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");
+ controlService.flyToNextPoint(targetList, curIndex, dockSn, payloadIndex);
+ }
+ }
+
return receiver;
}
--
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