From 694b9483c7a551626244cbc222c602ea9ff74094 Mon Sep 17 00:00:00 2001
From: sean.zhou <sean.zhou@dji.com>
Date: Tue, 25 Apr 2023 21:44:00 +0800
Subject: [PATCH] What's new? 1. Wayline management: added `pause wayline task` and `recover wayline task`. 2. Added command flight function. 3. Fixed some issues.
---
src/main/java/com/dji/sample/manage/model/dto/DeviceAuthorityDTO.java | 26
src/main/java/com/dji/sample/manage/service/impl/CapacityCameraServiceImpl.java | 8
src/main/java/com/dji/sample/control/model/dto/PointDTO.java | 31
src/main/java/com/dji/sample/control/service/impl/PayloadCommandsHandler.java | 82
src/main/java/com/dji/sample/manage/model/receiver/OutOfControlActionReceiver.java | 29
src/main/java/com/dji/sample/component/websocket/service/ISendMessageService.java | 4
src/main/java/com/dji/sample/control/model/param/DrcConnectParam.java | 19
src/main/java/com/dji/sample/manage/service/impl/DeviceRedisServiceImpl.java | 80
src/main/java/com/dji/sample/control/model/enums/DroneAuthorityEnum.java | 25
src/main/java/com/dji/sample/manage/model/enums/DroneRcLostActionEnum.java | 26
src/main/java/com/dji/sample/control/model/dto/TakeoffProgressReceiver.java | 25
src/main/java/com/dji/sample/component/GlobalExceptionHandler.java | 2
src/main/java/com/dji/sample/control/model/dto/BatteryStoreMode.java | 4
src/main/java/com/dji/sample/control/model/dto/LinkWorkMode.java | 4
src/main/java/com/dji/sample/component/mqtt/model/EventsMethodEnum.java | 10
src/main/java/com/dji/sample/component/websocket/service/impl/SendMessageServiceImpl.java | 27
src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskConditionDTO.java | 22
src/main/java/com/dji/sample/manage/model/enums/ControlSourceEnum.java | 26
src/main/java/com/dji/sample/wayline/model/enums/WaylineTemplateTypeEnum.java | 34
src/main/java/com/dji/sample/manage/model/enums/DockModeCodeEnum.java | 42
src/main/java/com/dji/sample/control/controller/DrcController.java | 55
src/main/java/com/dji/sample/control/model/param/FlyToPointParam.java | 37
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 330 ++
src/main/java/com/dji/sample/manage/model/receiver/BasicDeviceProperty.java | 5
src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java | 2
src/main/java/com/dji/sample/component/mqtt/config/MqttMessageChannel.java | 29
src/main/java/com/dji/sample/control/model/param/PayloadCommandsParam.java | 27
src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java | 249 ++
src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java | 9
src/main/java/com/dji/sample/control/model/dto/AlarmState.java | 4
src/main/java/com/dji/sample/manage/service/IDeviceRedisService.java | 95 +
src/main/java/com/dji/sample/manage/service/impl/DeviceLogsServiceImpl.java | 110
src/main/java/com/dji/sample/wayline/service/IFlightTaskService.java | 9
src/main/java/com/dji/sample/manage/service/IDeviceFirmwareService.java | 9
src/main/java/com/dji/sample/control/service/impl/GimbalResetImpl.java | 22
src/main/java/com/dji/sample/manage/model/enums/DeviceModeCodeEnum.java | 64
src/main/java/com/dji/sample/manage/service/IDevicePayloadService.java | 15
src/main/java/com/dji/sample/component/mqtt/config/MqttConfiguration.java | 27
src/main/java/com/dji/sample/control/service/impl/CameraRecordingStartImpl.java | 25
src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskExecutableConditionDTO.java | 23
pom.xml | 2
src/main/java/com/dji/sample/control/model/dto/DrcStatusNotifyReceiver.java | 18
src/main/java/com/dji/sample/manage/model/receiver/OsdDockReceiver.java | 8
src/main/java/com/dji/sample/component/mqtt/service/impl/MessageSenderServiceImpl.java | 78
src/main/java/com/dji/sample/control/model/dto/ResultNotifyDTO.java | 24
src/main/java/com/dji/sample/control/service/impl/CameraRecordingStopImpl.java | 22
src/main/java/com/dji/sample/wayline/service/impl/WaylineRedisServiceImpl.java | 112 +
src/main/java/com/dji/sample/control/model/dto/RemoteDebugOpenState.java | 25
src/main/java/com/dji/sample/control/model/enums/PayloadCommandsEnum.java | 52
src/main/java/com/dji/sample/control/model/enums/TakeoffStatusEnum.java | 47
src/main/java/com/dji/sample/control/service/impl/CameraFocalLengthSetImpl.java | 41
src/main/java/com/dji/sample/component/mqtt/service/IMessageSenderService.java | 50
src/main/java/com/dji/sample/control/model/enums/MqttAclAccessEnum.java | 24
src/main/java/com/dji/sample/control/model/enums/DrcModeReasonEnum.java | 47
src/main/java/com/dji/sample/control/service/impl/CameraAimImpl.java | 24
src/main/java/com/dji/sample/media/service/IMediaService.java | 15
src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java | 184 +
src/main/java/com/dji/sample/control/model/enums/DroneControlMethodEnum.java | 28
src/main/java/com/dji/sample/wayline/model/enums/WaylineMethodEnum.java | 6
src/main/java/com/dji/sample/control/model/enums/CameraTypeEnum.java | 38
src/main/java/com/dji/sample/control/service/impl/CameraModeSwitchImpl.java | 31
src/main/java/com/dji/sample/wayline/service/IWaylineRedisService.java | 100 +
src/main/java/com/dji/sample/control/service/impl/RemoteDebugHandler.java | 23
src/main/java/com/dji/sample/manage/model/enums/HmsEnum.java | 14
src/main/java/com/dji/sample/manage/model/enums/DeviceDomainEnum.java | 10
src/main/java/com/dji/sample/map/controller/WorkspaceElementController.java | 45
src/main/java/com/dji/sample/control/model/enums/DrcMethodEnum.java | 22
src/main/java/com/dji/sample/wayline/model/dto/ConditionalWaylineJobKey.java | 39
src/main/java/com/dji/sample/manage/model/receiver/OsdSubDeviceReceiver.java | 16
src/main/resources/application.yml | 7
src/main/java/com/dji/sample/manage/service/impl/LiveStreamServiceImpl.java | 22
src/main/java/com/dji/sample/control/model/dto/DrcModeDTO.java | 32
src/main/java/com/dji/sample/control/model/dto/MqttBrokerDTO.java | 31
src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java | 3
src/main/java/com/dji/sample/manage/model/receiver/DeviceHmsReceiver.java | 2
src/main/java/com/dji/sample/control/model/dto/DrcModeReasonReceiver.java | 15
src/main/java/com/dji/sample/wayline/model/param/UpdateJobParam.java | 22
src/main/java/com/dji/sample/manage/service/impl/DeviceFirmwareServiceImpl.java | 103
src/main/java/com/dji/sample/component/mqtt/model/ChannelName.java | 12
src/main/java/com/dji/sample/control/model/param/DeviceDrcInfoParam.java | 19
src/main/java/com/dji/sample/wayline/model/enums/WaylineErrorCodeEnum.java | 83
sql/cloud_sample.sql | 5
src/main/java/com/dji/sample/control/service/impl/CameraPhotoTakeImpl.java | 22
src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java | 321 ++-
src/main/java/com/dji/sample/manage/model/entity/DevicePayloadEntity.java | 3
src/main/java/com/dji/sample/manage/model/enums/DeviceSetPropertyEnum.java | 5
src/main/java/com/dji/sample/wayline/model/param/CreateJobParam.java | 20
api/Cloud API Demo.postman_collection.json | 317 +++
src/main/java/com/dji/sample/manage/model/receiver/LiveviewWorldRegionReceiver.java | 20
src/main/java/com/dji/sample/manage/model/enums/DockDrcStateEnum.java | 36
src/main/java/com/dji/sample/manage/model/dto/DeviceDTO.java | 4
src/main/java/com/dji/sample/control/model/enums/FlyToStatusEnum.java | 39
src/main/java/com/dji/sample/control/model/enums/CameraStateEnum.java | 26
src/main/java/com/dji/sample/manage/service/impl/DeviceOSDServiceImpl.java | 2
src/main/java/com/dji/sample/control/model/enums/DrcStatusErrorEnum.java | 52
src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java | 24
src/main/java/com/dji/sample/component/GlobalScheduleService.java | 11
src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java | 273 ++
src/main/java/com/dji/sample/manage/model/enums/WaylineRcLostActionEnum.java | 26
src/main/java/com/dji/sample/component/redis/RedisConst.java | 12
src/main/java/com/dji/sample/control/model/enums/GimbalResetModeEnum.java | 26
src/main/java/com/dji/sample/component/mqtt/handler/ServicesReplyHandler.java | 9
src/main/java/com/dji/sample/control/model/enums/RemoteDebugMethodEnum.java | 20
src/main/java/com/dji/sample/control/model/param/TakeoffToPointParam.java | 49
src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskReadyConditionDTO.java | 24
src/main/java/com/dji/sample/component/mqtt/model/TopicConst.java | 5
src/main/java/com/dji/sample/control/controller/DockController.java | 40
src/main/java/com/dji/sample/control/model/dto/JwtAclDTO.java | 26
src/main/java/com/dji/sample/manage/service/impl/DockOSDServiceImpl.java | 17
src/main/java/com/dji/sample/manage/service/impl/DevicePayloadServiceImpl.java | 108
src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskStatusEnum.java | 19
src/main/java/com/dji/sample/control/service/IControlService.java | 56
src/main/java/com/dji/sample/manage/model/receiver/RthAltitudeReceiver.java | 32
src/main/java/com/dji/sample/component/mqtt/handler/EventsRouter.java | 29
src/main/java/com/dji/sample/manage/service/IWorkspaceService.java | 2
src/main/java/com/dji/sample/manage/service/IDeviceService.java | 57
src/main/java/com/dji/sample/manage/service/impl/DeviceHmsServiceImpl.java | 41
src/main/java/com/dji/sample/manage/model/dto/DevicePayloadDTO.java | 6
src/main/java/com/dji/sample/wayline/model/dto/KmzFileProperties.java | 2
src/main/java/com/dji/sample/manage/service/IDeviceLogsService.java | 3
src/main/java/com/dji/sample/control/model/dto/ReturnHomeState.java | 27
src/main/java/com/dji/sample/manage/model/receiver/OsdCameraReceiver.java | 34
src/main/java/com/dji/sample/control/service/IDrcService.java | 60
src/main/java/com/dji/sample/control/model/dto/FlyToProgressReceiver.java | 22
/dev/null | 35
src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskTypeEnum.java | 20
src/main/java/com/dji/sample/media/service/impl/MediaServiceImpl.java | 110
src/main/java/com/dji/sample/control/model/enums/CameraModeEnum.java | 26
src/main/java/com/dji/sample/manage/model/receiver/FirmwareProgressExtReceiver.java | 14
src/main/java/com/dji/sample/component/mqtt/model/EventsOutputProgressReceiver.java | 4
src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java | 9
src/main/java/com/dji/sample/component/websocket/model/BizCodeEnum.java | 17
src/main/java/com/dji/sample/control/model/param/DrcModeParam.java | 35
src/main/java/com/dji/sample/control/model/param/DronePayloadParam.java | 54
134 files changed, 4,602 insertions(+), 822 deletions(-)
diff --git a/api/Cloud API Demo.postman_collection.json b/api/Cloud API Demo.postman_collection.json
index a1535ea..6bfd878 100644
--- a/api/Cloud API Demo.postman_collection.json
+++ b/api/Cloud API Demo.postman_collection.json
@@ -887,7 +887,7 @@
"apikey": [
{
"key": "value",
- "value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2NzAzMTU2MDEsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE2NzA0MDIwMDEsImlhdCI6MTY3MDMxNTYwMSwidXNlcm5hbWUiOiJhZG1pblBDIn0.yh8SkHZVsoIXo_vtlTGNB-ZX92XayalGe_q7mNRVcdI",
+ "value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2ODIyMzI5MDYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE3Njg2MzI5MDYsImlhdCI6MTY4MjIzMjkwNiwidXNlcm5hbWUiOiJhZG1pblBDIn0.ilO-3PcvWAX9r8z3AR4VAw3kVhavYjiTx_187ACBc1M",
"type": "string"
},
{
@@ -1537,7 +1537,7 @@
"apikey": [
{
"key": "value",
- "value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2Njg2NTk4MjYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE2Njg3NDYyMjYsImlhdCI6MTY2ODY1OTgyNiwidXNlcm5hbWUiOiJhZG1pblBDIn0.ykCpfJcReeb3etUzmNMQk1n0vaoDT6dl47J_aHRoTbU",
+ "value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2ODAyNjAxNTYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE3NjY2NjAxNTYsImlhdCI6MTY4MDI2MDE1NiwidXNlcm5hbWUiOiJhZG1pblBDIn0._QhvfhBxxfQN7xpFqZma1rCYbBtouo2pErtm8737L_8",
"type": "string"
},
{
@@ -1578,7 +1578,7 @@
"header": [],
"body": {
"mode": "raw",
- "raw": "{\r\n \"name\": \"\",\r\n \"file_id\": \"\",\r\n \"dock_sn\": \"\",\r\n \"wayline_type\": 0,\r\n \"task_type\": 0,\r\n \"execute_time\": 123456789123,\r\n \"rth_altitude\": 20,\r\n \"out_of_control_action\": 1\r\n}",
+ "raw": "{\r\n \"name\": \"\",\r\n \"file_id\": \"\",\r\n \"dock_sn\": \"\",\r\n \"wayline_type\": 0,\r\n \"task_type\": 0,\r\n \"task_days\": [1676029468],\r\n \"task_periods\": [[1676029468]],\r\n \"rth_altitude\": 20,\r\n \"out_of_control_action\": 1\r\n}",
"options": {
"raw": {
"language": "json"
@@ -1679,6 +1679,64 @@
}
},
"response": []
+ },
+ {
+ "name": "Pause Job",
+ "request": {
+ "method": "PUT",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"status\": 0\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{wayline_version}}/workspaces/{{workspace_id}}/jobs/{{job_id}}",
+ "host": [
+ "{{base_url}}{{wayline_version}}"
+ ],
+ "path": [
+ "workspaces",
+ "{{workspace_id}}",
+ "jobs",
+ "{{job_id}}"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Resume Job",
+ "request": {
+ "method": "PUT",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"status\": 1\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{wayline_version}}/workspaces/{{workspace_id}}/jobs/{{job_id}}",
+ "host": [
+ "{{base_url}}{{wayline_version}}"
+ ],
+ "path": [
+ "workspaces",
+ "{{workspace_id}}",
+ "jobs",
+ "{{job_id}}"
+ ]
+ }
+ },
+ "response": []
}
],
"auth": {
@@ -1686,7 +1744,7 @@
"apikey": [
{
"key": "value",
- "value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2Njg2NTk4MjYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE2Njg3NDYyMjYsImlhdCI6MTY2ODY1OTgyNiwidXNlcm5hbWUiOiJhZG1pblBDIn0.ykCpfJcReeb3etUzmNMQk1n0vaoDT6dl47J_aHRoTbU",
+ "value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2Nzg4NjM0NzMsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE3NjUyNjM0NzMsImlhdCI6MTY3ODg2MzQ3MywidXNlcm5hbWUiOiJhZG1pblBDIn0.r3ODgJtAHxrBCzDnCwTDCdUq8hLyfIUiDYzasYAIUII",
"type": "string"
},
{
@@ -1727,7 +1785,7 @@
"header": [],
"body": {
"mode": "raw",
- "raw": "{\r\n \"action\": 0\r\n}",
+ "raw": "",
"options": {
"raw": {
"language": "json"
@@ -1735,7 +1793,7 @@
}
},
"url": {
- "raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/alarm_state_switch",
+ "raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/return_home",
"host": [
"{{base_url}}{{control_version}}"
],
@@ -1743,7 +1801,250 @@
"devices",
"{{device_sn}}",
"jobs",
- "alarm_state_switch"
+ "return_home"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Web Drc Connect",
+ "request": {
+ "method": "POST",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"client_id\": \"xxx\",\r\n \"expire_sec\": 1800\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/workspaces/{{workspace_id}}/drc/connect",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "workspaces",
+ "{{workspace_id}}",
+ "drc",
+ "connect"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Enter Drc Mode",
+ "request": {
+ "method": "POST",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"client_id\": \"\",\r\n \"dock_sn\": \"\"\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/workspaces/{{workspace_id}}/drc/enter",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "workspaces",
+ "{{workspace_id}}",
+ "drc",
+ "enter"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Drc Mode Exit",
+ "request": {
+ "method": "POST",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"client_id\": \"\",\r\n \"dock_sn\": \"\"\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/workspaces/{{workspace_id}}/drc/exit",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "workspaces",
+ "{{workspace_id}}",
+ "drc",
+ "exit"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Fly to Point",
+ "request": {
+ "method": "POST",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"max_speed\": 15,\r\n \"points\":[\r\n {\r\n \"latitude\": 22.5818,\r\n \"longitude\": 113.9394,\r\n \"height\": 20\r\n }\r\n ]\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/fly-to-point",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "devices",
+ "{{device_sn}}",
+ "jobs",
+ "fly-to-point"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Stop Flying to Point",
+ "request": {
+ "method": "DELETE",
+ "header": [],
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/fly-to-point",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "devices",
+ "{{device_sn}}",
+ "jobs",
+ "fly-to-point"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Take off to Point",
+ "request": {
+ "method": "POST",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"target_latitude\": 22.579,\r\n \"target_longitude\": 113.9392,\r\n \"target_height\": 20,\r\n \"security_takeoff_height\": 20,\r\n \"rth_altitude\": 20,\r\n \"rc_lost_action\": 0,\r\n \"exit_wayline_when_rc_lost\": 0,\r\n \"max_speed\": 12\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/takeoff-to-point",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "devices",
+ "{{device_sn}}",
+ "jobs",
+ "takeoff-to-point"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Payload Commands",
+ "request": {
+ "method": "POST",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"cmd\":\"camera_mode_switch\",\r\n \"data\":{\r\n \"payload_index\":\"53-0-0\",\r\n \"camera_mode\": 1\r\n }\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/payload/commands",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "devices",
+ "{{device_sn}}",
+ "payload",
+ "commands"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Flight Authority Grab",
+ "request": {
+ "method": "POST",
+ "header": [],
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/authority/flight",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "devices",
+ "{{device_sn}}",
+ "authority",
+ "flight"
+ ]
+ }
+ },
+ "response": []
+ },
+ {
+ "name": "Payload Authority Grab",
+ "request": {
+ "method": "POST",
+ "header": [],
+ "body": {
+ "mode": "raw",
+ "raw": "{\r\n \"payload_index\":\"53-0-0\"\r\n}",
+ "options": {
+ "raw": {
+ "language": "json"
+ }
+ }
+ },
+ "url": {
+ "raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/authority/payload",
+ "host": [
+ "{{base_url}}{{control_version}}"
+ ],
+ "path": [
+ "devices",
+ "{{device_sn}}",
+ "authority",
+ "payload"
]
}
},
@@ -1755,7 +2056,7 @@
"apikey": [
{
"key": "value",
- "value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2Njk2MzMzMzQsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE2Njk3MTk3MzQsImlhdCI6MTY2OTYzMzMzNCwidXNlcm5hbWUiOiJhZG1pblBDIn0.OoIfdpyI5eL6bFm8akq8_stzClQU41YpIJkx6_kxVHU",
+ "value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2ODIyMzI5MDYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE3Njg2MzI5MDYsImlhdCI6MTY4MjIzMjkwNiwidXNlcm5hbWUiOiJhZG1pblBDIn0.ilO-3PcvWAX9r8z3AR4VAw3kVhavYjiTx_187ACBc1M",
"type": "string"
},
{
diff --git a/pom.xml b/pom.xml
index 66e3efa..4f0fea6 100644
--- a/pom.xml
+++ b/pom.xml
@@ -11,7 +11,7 @@
<groupId>com.dji</groupId>
<artifactId>cloud-api-sample</artifactId>
- <version>1.3.1</version>
+ <version>1.4.0</version>
<name>cloud-api-sample</name>
<properties>
diff --git a/sql/cloud_sample.sql b/sql/cloud_sample.sql
index 3ff45db..74fe68c 100644
--- a/sql/cloud_sample.sql
+++ b/sql/cloud_sample.sql
@@ -66,7 +66,7 @@
`device_sn` varchar(32) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL DEFAULT '' COMMENT 'dock, drone, remote control',
`device_name` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL DEFAULT 'undefined' COMMENT 'model of the device. This parameter corresponds to the device name in the device dictionary table.',
`user_id` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT '' COMMENT 'The account used when the device was bound.',
- `nickname` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT '' COMMENT 'custom name of the device',
+ `nickname` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL COMMENT 'custom name of the device',
`workspace_id` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT '' COMMENT 'The workspace to which the current device belongs.',
`device_type` int NOT NULL DEFAULT '-1' COMMENT 'This parameter corresponds to the device type in the device dictionary table.',
`sub_type` int NOT NULL DEFAULT '-1' COMMENT 'This parameter corresponds to the sub type in the device dictionary table.',
@@ -226,6 +226,7 @@
`payload_index` smallint NOT NULL COMMENT 'The location of the payload on the device.',
`device_sn` varchar(32) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL DEFAULT '' COMMENT 'Which device the current payload belongs to.',
`payload_desc` varchar(100) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT NULL,
+ `control_source` varchar(1) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT NULL,
`create_time` bigint NOT NULL,
`update_time` bigint NOT NULL,
PRIMARY KEY (`id`),
@@ -452,7 +453,7 @@
`completed_time` bigint DEFAULT NULL COMMENT 'actual end time',
`username` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL DEFAULT '' COMMENT 'The name of the creator.',
`begin_time` bigint NOT NULL COMMENT 'planned begin time',
- `end_time` bigint NOT NULL COMMENT 'planned end time',
+ `end_time` bigint DEFAULT NULL COMMENT 'planned end time',
`error_code` int DEFAULT NULL,
`status` int NOT NULL COMMENT '1: pending; 2: in progress; 3: success; 4: cancel; 5: failed',
`rth_altitude` int NOT NULL COMMENT 'return to home altitude. min: 20m; max: 500m',
diff --git a/src/main/java/com/dji/sample/component/GlobalExceptionHandler.java b/src/main/java/com/dji/sample/component/GlobalExceptionHandler.java
index 953fd2d..0b6b6b0 100644
--- a/src/main/java/com/dji/sample/component/GlobalExceptionHandler.java
+++ b/src/main/java/com/dji/sample/component/GlobalExceptionHandler.java
@@ -36,7 +36,7 @@
@ExceptionHandler({MethodArgumentNotValidException.class, BindException.class})
public ResponseResult methodArgumentNotValidExceptionHandler(BindException e) {
e.printStackTrace();
- return ResponseResult.error(e.getBindingResult().getAllErrors().get(0).getDefaultMessage());
+ return ResponseResult.error(e.getFieldError().getField() + e.getFieldError().getDefaultMessage());
}
}
diff --git a/src/main/java/com/dji/sample/component/GlobalScheduleService.java b/src/main/java/com/dji/sample/component/GlobalScheduleService.java
index e092ad4..7e77a34 100644
--- a/src/main/java/com/dji/sample/component/GlobalScheduleService.java
+++ b/src/main/java/com/dji/sample/component/GlobalScheduleService.java
@@ -7,6 +7,7 @@
import com.dji.sample.manage.model.enums.DeviceDomainEnum;
import com.dji.sample.manage.service.IDeviceService;
import com.dji.sample.wayline.service.IWaylineJobService;
+import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
@@ -32,11 +33,12 @@
@Autowired
private IWaylineJobService waylineJobService;
-
+ @Autowired
+ private ObjectMapper mapper;
/**
* Check the status of the devices every 30 seconds. It is recommended to use cache.
*/
- @Scheduled(initialDelay = 30, fixedRate = 30, timeUnit = TimeUnit.SECONDS)
+ @Scheduled(initialDelay = 10, fixedRate = 30, timeUnit = TimeUnit.SECONDS)
private void deviceStatusListen() {
int start = RedisConst.DEVICE_ONLINE_PREFIX.length();
@@ -49,8 +51,9 @@
} else {
deviceService.unsubscribeTopicOffline(key.substring(start));
deviceService.pushDeviceOfflineTopo(device.getWorkspaceId(), device.getDeviceSn());
- RedisOpsUtils.hashDel(RedisConst.LIVE_CAPACITY, new String[]{key});
- RedisOpsUtils.del(RedisConst.HMS_PREFIX + key);
+ RedisOpsUtils.hashDel(RedisConst.LIVE_CAPACITY, new String[]{device.getDeviceSn()});
+ RedisOpsUtils.del(RedisConst.HMS_PREFIX + device.getDeviceSn());
+ RedisOpsUtils.del(RedisConst.OSD_PREFIX + device.getDeviceSn());
}
RedisOpsUtils.del(key);
}
diff --git a/src/main/java/com/dji/sample/component/mqtt/config/MqttConfiguration.java b/src/main/java/com/dji/sample/component/mqtt/config/MqttConfiguration.java
index 69c6398..ba8d939 100644
--- a/src/main/java/com/dji/sample/component/mqtt/config/MqttConfiguration.java
+++ b/src/main/java/com/dji/sample/component/mqtt/config/MqttConfiguration.java
@@ -5,6 +5,7 @@
import com.dji.sample.component.mqtt.model.MqttClientOptions;
import com.dji.sample.component.mqtt.model.MqttProtocolEnum;
import com.dji.sample.component.mqtt.model.MqttUseEnum;
+import com.dji.sample.control.model.dto.MqttBrokerDTO;
import lombok.Data;
import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
import org.springframework.boot.context.properties.ConfigurationProperties;
@@ -70,6 +71,32 @@
return addr.toString();
}
+ /**
+ * Get the connection parameters of the mqtt client of the drc link.
+ * @param clientId
+ * @param username
+ * @param age The validity period of the token. unit: s
+ * @param map Custom data added in token.
+ * @return
+ */
+ public static MqttBrokerDTO getMqttBrokerWithDrc(String clientId, String username, Long age, Map<String, ?> map) {
+ if (!mqtt.containsKey(MqttUseEnum.DRC)) {
+ throw new RuntimeException("Please configure the drc link parameters of mqtt in the backend configuration file first.");
+ }
+ Algorithm algorithm = JwtUtil.algorithm;
+
+ String token = JwtUtil.createToken(map, age, algorithm, null, null);
+
+ return MqttBrokerDTO.builder()
+ .address(getMqttAddress(mqtt.get(MqttUseEnum.DRC)))
+ .username(username)
+ .clientId(clientId)
+ .expireTime(System.currentTimeMillis() / 1000 + age)
+ .password(token)
+ .build();
+ }
+
+
@Bean
public MqttConnectOptions mqttConnectOptions() {
MqttClientOptions customizeOptions = getBasicClientOptions();
diff --git a/src/main/java/com/dji/sample/component/mqtt/config/MqttMessageChannel.java b/src/main/java/com/dji/sample/component/mqtt/config/MqttMessageChannel.java
index 8e168e8..8ff8629 100644
--- a/src/main/java/com/dji/sample/component/mqtt/config/MqttMessageChannel.java
+++ b/src/main/java/com/dji/sample/component/mqtt/config/MqttMessageChannel.java
@@ -107,6 +107,11 @@
return new DirectChannel();
}
+ @Bean(name = ChannelName.OUTBOUND_EVENTS)
+ public MessageChannel eventsOutboundChannel() {
+ return new DirectChannel();
+ }
+
@Bean(name = ChannelName.INBOUND_EVENTS_FLIGHT_TASK_PROGRESS)
public MessageChannel eventsFlightTaskProgressChannel() {
return new DirectChannel();
@@ -172,4 +177,28 @@
return new DirectChannel();
}
+ @Bean(name = ChannelName.INBOUND_EVENTS_FLIGHT_TASK_READY)
+ public MessageChannel eventsEventsFlightTaskReady() {
+ return new DirectChannel();
+ }
+
+ @Bean(name = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS)
+ public MessageChannel eventsFlyToPointProgress() {
+ return new DirectChannel();
+ }
+
+ @Bean(name = ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS)
+ public MessageChannel eventsTakeoffToPointProgress() {
+ return new DirectChannel();
+ }
+
+ @Bean(name = ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY)
+ public MessageChannel eventsDrcStatusNotify() {
+ return new DirectChannel();
+ }
+
+ @Bean(name = ChannelName.INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY)
+ public MessageChannel eventsDrcModeExitNotify() {
+ return new DirectChannel();
+ }
}
diff --git a/src/main/java/com/dji/sample/component/mqtt/handler/EventsRouter.java b/src/main/java/com/dji/sample/component/mqtt/handler/EventsRouter.java
index 49034b3..152ae81 100644
--- a/src/main/java/com/dji/sample/component/mqtt/handler/EventsRouter.java
+++ b/src/main/java/com/dji/sample/component/mqtt/handler/EventsRouter.java
@@ -1,17 +1,20 @@
package com.dji.sample.component.mqtt.handler;
-import com.dji.sample.component.mqtt.model.ChannelName;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
-import com.dji.sample.component.mqtt.model.EventsMethodEnum;
+import com.dji.sample.component.mqtt.model.*;
+import com.dji.sample.component.mqtt.service.IMessageSenderService;
import com.fasterxml.jackson.databind.ObjectMapper;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Bean;
import org.springframework.context.annotation.Configuration;
+import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.integration.dsl.IntegrationFlow;
import org.springframework.integration.dsl.IntegrationFlows;
+import org.springframework.integration.mqtt.support.MqttHeaders;
+import org.springframework.messaging.MessageHeaders;
import java.io.IOException;
import java.util.Arrays;
+import java.util.Optional;
/**
* @author sean
@@ -23,6 +26,9 @@
@Autowired
private ObjectMapper mapper;
+
+ @Autowired
+ private IMessageSenderService messageSenderService;
@Bean
public IntegrationFlow eventsMethodRouterFlow() {
@@ -42,4 +48,21 @@
methodEnum -> mapping.channelMapping(methodEnum, methodEnum.getChannelName())))
.get();
}
+
+ @ServiceActivator(inputChannel = ChannelName.OUTBOUND_EVENTS, outputChannel = ChannelName.OUTBOUND)
+ public void replyEventsOutbound(CommonTopicReceiver receiver, MessageHeaders headers) {
+ if (Optional.ofNullable(receiver).map(CommonTopicReceiver::getNeedReply).flatMap(val -> Optional.of(1 != val)).orElse(true)) {
+ return;
+ }
+ messageSenderService.publish(headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF,
+ CommonTopicResponse.builder()
+ .tid(receiver.getTid())
+ .bid(receiver.getBid())
+ .method(receiver.getMethod())
+ .timestamp(System.currentTimeMillis())
+ .data(RequestsReply.success())
+ .build());
+
+ }
+
}
diff --git a/src/main/java/com/dji/sample/component/mqtt/handler/ServicesReplyHandler.java b/src/main/java/com/dji/sample/component/mqtt/handler/ServicesReplyHandler.java
index c0115ab..8d8030d 100644
--- a/src/main/java/com/dji/sample/component/mqtt/handler/ServicesReplyHandler.java
+++ b/src/main/java/com/dji/sample/component/mqtt/handler/ServicesReplyHandler.java
@@ -36,13 +36,16 @@
byte[] payload = (byte[])message.getPayload();
CommonTopicReceiver receiver = mapper.readValue(payload, new TypeReference<CommonTopicReceiver>() {});
+ ServiceReply reply;
if (LogsFileMethodEnum.FILE_UPLOAD_LIST.getMethod().equals(receiver.getMethod())) {
LogsFileUploadList list = mapper.convertValue(receiver.getData(), new TypeReference<LogsFileUploadList>() {});
- receiver.setData(list);
+ reply = new ServiceReply();
+ reply.setResult(list.getResult());
+ reply.setOutput(list.getFiles());
} else {
- ServiceReply reply = mapper.convertValue(receiver.getData(), new TypeReference<ServiceReply>() {});
- receiver.setData(reply);
+ reply = mapper.convertValue(receiver.getData(), new TypeReference<ServiceReply>() {});
}
+ receiver.setData(reply);
Chan<CommonTopicReceiver<?>> chan = Chan.getInstance();
// Put the message to the chan object.
chan.put(receiver);
diff --git a/src/main/java/com/dji/sample/component/mqtt/model/ChannelName.java b/src/main/java/com/dji/sample/component/mqtt/model/ChannelName.java
index aeee108..cf0ef71 100644
--- a/src/main/java/com/dji/sample/component/mqtt/model/ChannelName.java
+++ b/src/main/java/com/dji/sample/component/mqtt/model/ChannelName.java
@@ -51,6 +51,8 @@
public static final String INBOUND_EVENTS = "inboundEvents";
+ public static final String OUTBOUND_EVENTS = "outboundEvents";
+
public static final String INBOUND_EVENTS_FLIGHT_TASK_PROGRESS = "inboundEventsFlightTaskProgress";
public static final String INBOUND_EVENTS_FILE_UPLOAD_CALLBACK = "inboundEventsFileUploadCallback";
@@ -76,4 +78,14 @@
public static final String INBOUND_REQUESTS_CONFIG = "inboundRequestsConfig";
public static final String INBOUND_EVENTS_HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA = "inboundEventsHighestPriorityUploadFlightTaskMedia";
+
+ public static final String INBOUND_EVENTS_FLIGHT_TASK_READY = "inboundEventsFlightTaskReady";
+
+ public static final String INBOUND_EVENTS_FLY_TO_POINT_PROGRESS = "inboundFlyToPointProgress";
+
+ public static final String INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS = "inboundTakeoffToPointProgress";
+
+ public static final String INBOUND_EVENTS_DRC_STATUS_NOTIFY = "inboundDrcStatusNotify";
+
+ public static final String INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY = "inboundDrcModeExitNotify";
}
diff --git a/src/main/java/com/dji/sample/component/mqtt/model/EventsMethodEnum.java b/src/main/java/com/dji/sample/component/mqtt/model/EventsMethodEnum.java
index d0782e0..37205bc 100644
--- a/src/main/java/com/dji/sample/component/mqtt/model/EventsMethodEnum.java
+++ b/src/main/java/com/dji/sample/component/mqtt/model/EventsMethodEnum.java
@@ -45,6 +45,16 @@
HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA("highest_priority_upload_flighttask_media", ChannelName.INBOUND_EVENTS_HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA),
+ FLIGHT_TASK_READY("flighttask_ready", ChannelName.INBOUND_EVENTS_FLIGHT_TASK_READY),
+
+ FLY_TO_POINT_PROGRESS("fly_to_point_progress", ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS),
+
+ TAKE_OFF_TO_POINT_PROGRESS("takeoff_to_point_progress", ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS),
+
+ DRC_STATUS_NOTIFY("drc_status_notify", ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY),
+
+ JOYSTICK_INVALID_NOTIFY("joystick_invalid_notify", ChannelName.INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY),
+
UNKNOWN("Unknown", ChannelName.DEFAULT);
private String method;
diff --git a/src/main/java/com/dji/sample/component/mqtt/model/EventsOutputReceiver.java b/src/main/java/com/dji/sample/component/mqtt/model/EventsOutputProgressReceiver.java
similarity index 75%
rename from src/main/java/com/dji/sample/component/mqtt/model/EventsOutputReceiver.java
rename to src/main/java/com/dji/sample/component/mqtt/model/EventsOutputProgressReceiver.java
index 87667e8..499d85a 100644
--- a/src/main/java/com/dji/sample/component/mqtt/model/EventsOutputReceiver.java
+++ b/src/main/java/com/dji/sample/component/mqtt/model/EventsOutputProgressReceiver.java
@@ -8,9 +8,11 @@
* @date 2022/7/29
*/
@Data
-public class EventsOutputReceiver {
+public class EventsOutputProgressReceiver<T> {
private String status;
private OutputProgressReceiver progress;
+
+ private T ext;
}
diff --git a/src/main/java/com/dji/sample/component/mqtt/model/TopicConst.java b/src/main/java/com/dji/sample/component/mqtt/model/TopicConst.java
index 215995a..9ee3f9a 100644
--- a/src/main/java/com/dji/sample/component/mqtt/model/TopicConst.java
+++ b/src/main/java/com/dji/sample/component/mqtt/model/TopicConst.java
@@ -34,4 +34,9 @@
public static final String REGEX_SN = "[A-Za-z0-9]+";
+ public static final String DRC = "/drc";
+
+ public static final String UP = "/up";
+
+ public static final String DOWN = "/down";
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/component/mqtt/service/IMessageSenderService.java b/src/main/java/com/dji/sample/component/mqtt/service/IMessageSenderService.java
index 40f7f18..e21816c 100644
--- a/src/main/java/com/dji/sample/component/mqtt/service/IMessageSenderService.java
+++ b/src/main/java/com/dji/sample/component/mqtt/service/IMessageSenderService.java
@@ -2,6 +2,7 @@
import com.dji.sample.component.mqtt.model.CommonTopicResponse;
import com.dji.sample.component.mqtt.model.ServiceReply;
+import com.fasterxml.jackson.core.type.TypeReference;
/**
* @author sean.zhou
@@ -26,15 +27,16 @@
void publish(String topic, int qos, CommonTopicResponse response);
/**
- * Send live streaming start message and receive a response at the same time.
+ * Send message and receive a response at the same time.
+ * @param clazz
* @param topic
* @param response notification of whether the start is successful.
* @return
*/
- ServiceReply publishWithReply(String topic, CommonTopicResponse response);
+ <T> T publishWithReply(Class<T> clazz, String topic, CommonTopicResponse response);
/**
- * Send live streaming start message and receive a response at the same time.
+ * Send message and receive a response at the same time.
* @param clazz
* @param topic
* @param response
@@ -43,4 +45,46 @@
* @return
*/
<T> T publishWithReply(Class<T> clazz, String topic, CommonTopicResponse response, int retryTime);
+
+ /**
+ * Used exclusively for sending messages for services.
+ * @param clazz The generic class for ServiceReply.
+ * @param sn
+ * @param method
+ * @param data
+ * @param bid
+ * @param <T>
+ * @return
+ */
+ <T> ServiceReply<T> publishServicesTopic(TypeReference<T> clazz, String sn, String method, Object data, String bid);
+
+ /**
+ * Used exclusively for sending messages for services, and does not set the received subtype.
+ * @param sn
+ * @param method
+ * @param data
+ * @param bid
+ * @return
+ */
+ ServiceReply publishServicesTopic(String sn, String method, Object data, String bid);
+
+ /**
+ * Used exclusively for sending messages for services.
+ * @param clazz The generic class for ServiceReply.
+ * @param sn
+ * @param method
+ * @param data
+ * @param <T>
+ * @return
+ */
+ <T> ServiceReply<T> publishServicesTopic(TypeReference<T> clazz, String sn, String method, Object data);
+
+ /**
+ * Used exclusively for sending messages for services, and does not set the received subtype.
+ * @param sn
+ * @param method
+ * @param data
+ * @return
+ */
+ ServiceReply publishServicesTopic(String sn, String method, Object data);
}
diff --git a/src/main/java/com/dji/sample/component/mqtt/service/impl/MessageSenderServiceImpl.java b/src/main/java/com/dji/sample/component/mqtt/service/impl/MessageSenderServiceImpl.java
index 2a76cf5..fdaf62c 100644
--- a/src/main/java/com/dji/sample/component/mqtt/service/impl/MessageSenderServiceImpl.java
+++ b/src/main/java/com/dji/sample/component/mqtt/service/impl/MessageSenderServiceImpl.java
@@ -1,17 +1,19 @@
package com.dji.sample.component.mqtt.service.impl;
-import com.dji.sample.component.mqtt.model.Chan;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
-import com.dji.sample.component.mqtt.model.CommonTopicResponse;
-import com.dji.sample.component.mqtt.model.ServiceReply;
+import com.dji.sample.component.mqtt.model.*;
import com.dji.sample.component.mqtt.service.IMessageSenderService;
import com.dji.sample.component.mqtt.service.IMqttMessageGateway;
import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.TypeMismatchException;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
+import java.util.Objects;
+import java.util.UUID;
import java.util.concurrent.atomic.AtomicInteger;
/**
@@ -30,17 +32,12 @@
private ObjectMapper mapper;
public void publish(String topic, CommonTopicResponse response) {
- try {
- log.info("send topic: {}, payload: {}", topic, response.toString());
- messageGateway.publish(topic, mapper.writeValueAsBytes(response));
- } catch (JsonProcessingException e) {
- log.info("Failed to publish the message. {}", response.toString());
- e.printStackTrace();
- }
+ this.publish(topic, 1, response);
}
public void publish(String topic, int qos, CommonTopicResponse response) {
try {
+ log.info("send topic: {}, payload: {}", topic, response.toString());
messageGateway.publish(topic, mapper.writeValueAsBytes(response), qos);
} catch (JsonProcessingException e) {
log.info("Failed to publish the message. {}", response.toString());
@@ -48,12 +45,11 @@
}
}
- public ServiceReply publishWithReply(String topic, CommonTopicResponse response) {
- return this.publishWithReply(ServiceReply.class, topic, response, 2);
+ public <T> T publishWithReply(Class<T> clazz, String topic, CommonTopicResponse response) {
+ return this.publishWithReply(clazz, topic, response, 2);
}
public <T> T publishWithReply(Class<T> clazz, String topic, CommonTopicResponse response, int retryTime) {
- log.info("send topic: {}, payload: {}", topic, response.toString());
AtomicInteger time = new AtomicInteger(0);
// Retry three times
while (time.getAndIncrement() <= retryTime) {
@@ -62,15 +58,59 @@
Chan<CommonTopicReceiver<T>> chan = Chan.getInstance();
// If the message is not received in 0.5 seconds then resend it again.
CommonTopicReceiver<T> receiver = chan.get(response.getTid());
- if (receiver == null) {
- continue;
- }
+
// Need to match tid and bid.
- if (receiver.getTid().equals(response.getTid()) &&
+ if (Objects.nonNull(receiver) && receiver.getTid().equals(response.getTid()) &&
receiver.getBid().equals(response.getBid())) {
- return receiver.getData();
+ if (clazz.isAssignableFrom(receiver.getData().getClass())) {
+ return receiver.getData();
+ }
+ throw new TypeMismatchException(receiver.getData(), clazz);
}
+ // It must be guaranteed that the tid and bid of each message are different.
+ response.setBid(UUID.randomUUID().toString());
+ response.setTid(UUID.randomUUID().toString());
}
throw new RuntimeException("No message reply received.");
}
+
+ @Override
+ public <T> ServiceReply<T> publishServicesTopic(TypeReference<T> clazz, String sn, String method, Object data, String bid) {
+ String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + sn + TopicConst.SERVICES_SUF;
+ ServiceReply reply = this.publishWithReply(ServiceReply.class, topic,
+ CommonTopicResponse.builder()
+ .tid(UUID.randomUUID().toString())
+ .bid(StringUtils.hasText(bid) ? bid : UUID.randomUUID().toString())
+ .timestamp(System.currentTimeMillis())
+ .method(method)
+ .data(Objects.requireNonNullElse(data, ""))
+ .build());
+ if (Objects.isNull(clazz)) {
+ return reply;
+ }
+ // put together in "output"
+ if (Objects.nonNull(reply.getInfo())) {
+ reply.setOutput(mapper.convertValue(reply.getInfo(), clazz));
+ }
+ if (Objects.nonNull(reply.getOutput())) {
+ reply.setOutput(mapper.convertValue(reply.getOutput(), clazz));
+ }
+ return reply;
+ }
+
+ @Override
+ public ServiceReply publishServicesTopic(String sn, String method, Object data, String bid) {
+ return this.publishServicesTopic(null, sn, method, data, bid);
+ }
+
+ @Override
+ public <T> ServiceReply<T> publishServicesTopic(TypeReference<T> clazz, String sn, String method, Object data) {
+ return this.publishServicesTopic(clazz, sn, method, data, null);
+ }
+
+ @Override
+ public ServiceReply publishServicesTopic(String sn, String method, Object data) {
+ return this.publishServicesTopic(null, sn, method, data, null);
+ }
+
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/component/redis/RedisConst.java b/src/main/java/com/dji/sample/component/redis/RedisConst.java
index 7ae29db..cb0ca7a 100644
--- a/src/main/java/com/dji/sample/component/redis/RedisConst.java
+++ b/src/main/java/com/dji/sample/component/redis/RedisConst.java
@@ -39,6 +39,10 @@
public static final String WAYLINE_JOB_TIMED_EXECUTE = "wayline_job_timed_execute";
+ public static final String WAYLINE_JOB_CONDITION_PREPARE = "wayline_job_condition_prepare";
+
+ public static final String WAYLINE_JOB_CONDITION_PREFIX = WAYLINE_JOB_CONDITION_PREPARE + DELIMITER;
+
public static final String WAYLINE_JOB_BLOCK_PREFIX = "wayline_job_block" + DELIMITER;
public static final String WAYLINE_JOB_RUNNING_PREFIX = "wayline_job_running" + DELIMITER;
@@ -53,7 +57,13 @@
public static final String LIVE_CAPACITY = "live_capacity";
+ public static final String DRC_PREFIX = "drc" + DELIMITER;
+
+ public static final Integer DRC_MODE_ALIVE_SECOND = 3600;
+
public static final String MQTT_ACL_PREFIX = "mqtt_acl" + DELIMITER;
public static final String FILE_UPLOADING_PREFIX = "file_uploading" + DELIMITER;
-}
+
+ public static final String DRONE_CONTROL_PREFiX = "control_source" + DELIMITER;
+}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/component/websocket/model/BizCodeEnum.java b/src/main/java/com/dji/sample/component/websocket/model/BizCodeEnum.java
index 76727ca..2094d48 100644
--- a/src/main/java/com/dji/sample/component/websocket/model/BizCodeEnum.java
+++ b/src/main/java/com/dji/sample/component/websocket/model/BizCodeEnum.java
@@ -57,7 +57,22 @@
FILE_UPLOAD_CALLBACK("file_upload_callback"),
- HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA("HIGHEST_PRIORITY_UPLOAD_FLIGHTTASK_MEDIA");
+ FILE_UPLOAD_PROGRESS("fileupload_progress"),
+
+ OTA_PROGRESS("ota_progress"),
+
+ HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA("highest_priority_upload_flighttask_media"),
+
+ CONTROL_SOURCE_CHANGE("control_source_change"),
+
+ FLY_TO_POINT_PROGRESS("fly_to_point_progress"),
+
+ TAKE_OFF_TO_POINT_PROGRESS("takeoff_to_point_progress"),
+
+ DRC_STATUS_NOTIFY("drc_status_notify"),
+
+ JOYSTICK_INVALID_NOTIFY("joystick_invalid_notify")
+ ;
private String code;
diff --git a/src/main/java/com/dji/sample/component/websocket/service/ISendMessageService.java b/src/main/java/com/dji/sample/component/websocket/service/ISendMessageService.java
index e1d67e7..a9b3d8f 100644
--- a/src/main/java/com/dji/sample/component/websocket/service/ISendMessageService.java
+++ b/src/main/java/com/dji/sample/component/websocket/service/ISendMessageService.java
@@ -25,4 +25,8 @@
* @param message message
*/
void sendBatch(Collection<ConcurrentWebSocketSession> sessions, CustomWebSocketMessage message);
+
+ void sendBatch(String workspaceId, Integer userType, String bizCode, Object data);
+
+ void sendBatch(String workspaceId, String bizCode, Object data);
}
diff --git a/src/main/java/com/dji/sample/component/websocket/service/impl/SendMessageServiceImpl.java b/src/main/java/com/dji/sample/component/websocket/service/impl/SendMessageServiceImpl.java
index 0546728..b605cf9 100644
--- a/src/main/java/com/dji/sample/component/websocket/service/impl/SendMessageServiceImpl.java
+++ b/src/main/java/com/dji/sample/component/websocket/service/impl/SendMessageServiceImpl.java
@@ -3,14 +3,17 @@
import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
import com.dji.sample.component.websocket.service.ISendMessageService;
+import com.dji.sample.component.websocket.service.IWebSocketManageService;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
import org.springframework.web.socket.TextMessage;
import java.io.IOException;
import java.util.Collection;
+import java.util.Objects;
/**
* @author sean.zhou
@@ -23,6 +26,9 @@
@Autowired
private ObjectMapper mapper;
+
+ @Autowired
+ private IWebSocketManageService webSocketManageService;
@Override
public void sendMessage(ConcurrentWebSocketSession session, CustomWebSocketMessage message) {
@@ -70,4 +76,25 @@
e.printStackTrace();
}
}
+
+ @Override
+ public void sendBatch(String workspaceId, Integer userType, String bizCode, Object data) {
+ if (!StringUtils.hasText(workspaceId)) {
+ throw new RuntimeException("Workspace ID does not exist.");
+ }
+ Collection<ConcurrentWebSocketSession> sessions = Objects.isNull(userType) ?
+ webSocketManageService.getValueWithWorkspace(workspaceId) :
+ webSocketManageService.getValueWithWorkspaceAndUserType(workspaceId, userType);
+
+ this.sendBatch(sessions, CustomWebSocketMessage.builder()
+ .data(data)
+ .timestamp(System.currentTimeMillis())
+ .bizCode(bizCode)
+ .build());
+ }
+
+ @Override
+ public void sendBatch(String workspaceId, String bizCode, Object data) {
+ this.sendBatch(workspaceId, null, bizCode, data);
+ }
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/control/controller/DockController.java b/src/main/java/com/dji/sample/control/controller/DockController.java
index 7836e5f..53d07f5 100644
--- a/src/main/java/com/dji/sample/control/controller/DockController.java
+++ b/src/main/java/com/dji/sample/control/controller/DockController.java
@@ -1,11 +1,14 @@
package com.dji.sample.control.controller;
import com.dji.sample.common.model.ResponseResult;
-import com.dji.sample.control.model.param.RemoteDebugParam;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.param.*;
import com.dji.sample.control.service.IControlService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
+
+import javax.validation.Valid;
/**
* @author sean
@@ -24,6 +27,39 @@
public ResponseResult createControlJob(@PathVariable String sn,
@PathVariable("service_identifier") String serviceIdentifier,
@RequestBody(required = false) RemoteDebugParam param) {
- return controlService.controlDock(sn, serviceIdentifier, param);
+ return controlService.controlDockDebug(sn, serviceIdentifier, param);
}
+
+ @PostMapping("/{sn}/jobs/fly-to-point")
+ public ResponseResult flyToPoint(@PathVariable String sn, @Valid @RequestBody FlyToPointParam param) {
+ return controlService.flyToPoint(sn, param);
+ }
+
+ @DeleteMapping("/{sn}/jobs/fly-to-point")
+ public ResponseResult flyToPointStop(@PathVariable String sn) {
+ return controlService.flyToPointStop(sn);
+ }
+
+ @PostMapping("/{sn}/jobs/takeoff-to-point")
+ public ResponseResult takeoffToPoint(@PathVariable String sn, @Valid @RequestBody TakeoffToPointParam param) {
+ return controlService.takeoffToPoint(sn, param);
+ }
+
+ @PostMapping("/{sn}/authority/flight")
+ public ResponseResult seizeFlightAuthority(@PathVariable String sn) {
+ return controlService.seizeAuthority(sn, DroneAuthorityEnum.FLIGHT, null);
+ }
+
+ @PostMapping("/{sn}/authority/payload")
+ public ResponseResult seizePayloadAuthority(@PathVariable String sn, @Valid @RequestBody DronePayloadParam param) {
+ return controlService.seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, param);
+ }
+
+ @PostMapping("/{sn}/payload/commands")
+ public ResponseResult payloadCommands(@PathVariable String sn, @Valid @RequestBody PayloadCommandsParam param) throws Exception {
+ param.setSn(sn);
+ return controlService.payloadCommands(param);
+ }
+
+
}
diff --git a/src/main/java/com/dji/sample/control/controller/DrcController.java b/src/main/java/com/dji/sample/control/controller/DrcController.java
new file mode 100644
index 0000000..6b66089
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/controller/DrcController.java
@@ -0,0 +1,55 @@
+package com.dji.sample.control.controller;
+
+import com.dji.sample.common.model.CustomClaim;
+import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.control.model.dto.JwtAclDTO;
+import com.dji.sample.control.model.dto.MqttBrokerDTO;
+import com.dji.sample.control.model.param.DrcConnectParam;
+import com.dji.sample.control.model.param.DrcModeParam;
+import com.dji.sample.control.service.IDrcService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.validation.Valid;
+
+import static com.dji.sample.component.AuthInterceptor.TOKEN_CLAIM;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@RestController
+@Slf4j
+@RequestMapping("${url.control.prefix}${url.control.version}")
+public class DrcController {
+
+ @Autowired
+ private IDrcService drcService;
+
+ @PostMapping("/workspaces/{workspace_id}/drc/connect")
+ public ResponseResult drcConnect(@PathVariable("workspace_id") String workspaceId, HttpServletRequest request, @Valid @RequestBody DrcConnectParam param) {
+ CustomClaim claims = (CustomClaim) request.getAttribute(TOKEN_CLAIM);
+
+ MqttBrokerDTO brokerDTO = drcService.userDrcAuth(workspaceId, claims.getId(), claims.getUsername(), param);
+ return ResponseResult.success(brokerDTO);
+ }
+
+ @PostMapping("/workspaces/{workspace_id}/drc/enter")
+ public ResponseResult drcEnter(@PathVariable("workspace_id") String workspaceId, @Valid @RequestBody DrcModeParam param) {
+ JwtAclDTO acl = drcService.deviceDrcEnter(workspaceId, param);
+
+ return ResponseResult.success(acl);
+ }
+
+ @PostMapping("/workspaces/{workspace_id}/drc/exit")
+ public ResponseResult drcExit(@PathVariable("workspace_id") String workspaceId, @Valid @RequestBody DrcModeParam param) {
+ drcService.deviceDrcExit(workspaceId, param);
+
+ return ResponseResult.success();
+ }
+
+
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/AlarmState.java b/src/main/java/com/dji/sample/control/model/dto/AlarmState.java
index f670415..1fb590b 100644
--- a/src/main/java/com/dji/sample/control/model/dto/AlarmState.java
+++ b/src/main/java/com/dji/sample/control/model/dto/AlarmState.java
@@ -1,7 +1,7 @@
package com.dji.sample.control.model.dto;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
import com.dji.sample.manage.model.enums.StateSwitchEnum;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.EqualsAndHashCode;
@@ -18,7 +18,7 @@
@Data
@AllArgsConstructor
@NoArgsConstructor
-public class AlarmState extends BasicDeviceProperty {
+public class AlarmState extends RemoteDebugHandler {
private Integer action;
diff --git a/src/main/java/com/dji/sample/control/model/dto/BatteryStoreMode.java b/src/main/java/com/dji/sample/control/model/dto/BatteryStoreMode.java
index fa76703..9656a9e 100644
--- a/src/main/java/com/dji/sample/control/model/dto/BatteryStoreMode.java
+++ b/src/main/java/com/dji/sample/control/model/dto/BatteryStoreMode.java
@@ -1,7 +1,7 @@
package com.dji.sample.control.model.dto;
import com.dji.sample.control.model.enums.BatteryStoreModeEnum;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.EqualsAndHashCode;
@@ -18,7 +18,7 @@
@Data
@AllArgsConstructor
@NoArgsConstructor
-public class BatteryStoreMode extends BasicDeviceProperty {
+public class BatteryStoreMode extends RemoteDebugHandler {
private Integer action;
diff --git a/src/main/java/com/dji/sample/control/model/dto/DrcModeDTO.java b/src/main/java/com/dji/sample/control/model/dto/DrcModeDTO.java
new file mode 100644
index 0000000..771e85a
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/DrcModeDTO.java
@@ -0,0 +1,32 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/12
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class DrcModeDTO {
+
+ private MqttBrokerDTO mqttBroker;
+
+ /**
+ * range: 1 - 30
+ */
+ @Builder.Default
+ private Integer osdFrequency = 10;
+
+ /**
+ * range: 1 - 30
+ */
+ @Builder.Default
+ private Integer hsiFrequency = 1;
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/DrcModeReasonReceiver.java b/src/main/java/com/dji/sample/control/model/dto/DrcModeReasonReceiver.java
new file mode 100644
index 0000000..26429a9
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/DrcModeReasonReceiver.java
@@ -0,0 +1,15 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.control.model.enums.DrcModeReasonEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+@Data
+public class DrcModeReasonReceiver {
+
+ private DrcModeReasonEnum reason;
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/DrcStatusNotifyReceiver.java b/src/main/java/com/dji/sample/control/model/dto/DrcStatusNotifyReceiver.java
new file mode 100644
index 0000000..1ef8c04
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/DrcStatusNotifyReceiver.java
@@ -0,0 +1,18 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.control.model.enums.DrcStatusErrorEnum;
+import com.dji.sample.manage.model.enums.DockDrcStateEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/17
+ */
+@Data
+public class DrcStatusNotifyReceiver {
+
+ private DrcStatusErrorEnum result;
+
+ private DockDrcStateEnum drcState;
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/FlyToProgressReceiver.java b/src/main/java/com/dji/sample/control/model/dto/FlyToProgressReceiver.java
new file mode 100644
index 0000000..f51fbf6
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/FlyToProgressReceiver.java
@@ -0,0 +1,22 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.control.model.enums.FlyToStatusEnum;
+import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+@Data
+public class FlyToProgressReceiver {
+
+ private WaylineErrorCodeEnum result;
+
+ private FlyToStatusEnum status;
+
+ private String flyToId;
+
+ private Integer wayPointIndex;
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/JwtAclDTO.java b/src/main/java/com/dji/sample/control/model/dto/JwtAclDTO.java
new file mode 100644
index 0000000..9bc6959
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/JwtAclDTO.java
@@ -0,0 +1,26 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.List;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/12
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class JwtAclDTO {
+
+ private List<String> sub;
+
+ private List<String> pub;
+
+ private List<String> all;
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/LinkWorkMode.java b/src/main/java/com/dji/sample/control/model/dto/LinkWorkMode.java
index 00cb354..884330d 100644
--- a/src/main/java/com/dji/sample/control/model/dto/LinkWorkMode.java
+++ b/src/main/java/com/dji/sample/control/model/dto/LinkWorkMode.java
@@ -1,7 +1,7 @@
package com.dji.sample.control.model.dto;
import com.dji.sample.control.model.enums.LinkWorkModeEnum;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.AllArgsConstructor;
import lombok.Data;
@@ -19,7 +19,7 @@
@Data
@AllArgsConstructor
@NoArgsConstructor
-public class LinkWorkMode extends BasicDeviceProperty {
+public class LinkWorkMode extends RemoteDebugHandler {
@JsonProperty("link_workmode")
private Integer linkWorkMode;
diff --git a/src/main/java/com/dji/sample/control/model/dto/MqttBrokerDTO.java b/src/main/java/com/dji/sample/control/model/dto/MqttBrokerDTO.java
new file mode 100644
index 0000000..af19dba
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/MqttBrokerDTO.java
@@ -0,0 +1,31 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class MqttBrokerDTO {
+
+ private String address;
+
+ private String username;
+
+ private String password;
+
+ private String clientId;
+
+ private Long expireTime;
+
+ @Builder.Default
+ private Boolean enableTls = false;
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/PointDTO.java b/src/main/java/com/dji/sample/control/model/dto/PointDTO.java
new file mode 100644
index 0000000..8c6acaf
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/PointDTO.java
@@ -0,0 +1,31 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.constraints.NotNull;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/14
+ */
+@Data
+public class PointDTO {
+
+ @Range(min = -90, max = 90)
+ @NotNull
+ private Double latitude;
+
+ @NotNull
+ @Range(min = -180, max = 180)
+ private Double longitude;
+
+ /**
+ * WGS84
+ * The M30 series are ellipsoidal heights.
+ */
+ @NotNull
+ @Range(min = 2, max = 1500)
+ private Double height;
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/RemoteDebugOpenState.java b/src/main/java/com/dji/sample/control/model/dto/RemoteDebugOpenState.java
new file mode 100644
index 0000000..069307d
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/RemoteDebugOpenState.java
@@ -0,0 +1,25 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.common.util.SpringBeanUtils;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
+import com.dji.sample.manage.service.IDeviceService;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/14
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class RemoteDebugOpenState extends RemoteDebugHandler {
+
+ @Override
+ public boolean canPublish(String sn) {
+ IDeviceService deviceService = SpringBeanUtils.getBean(IDeviceService.class);
+ DockModeCodeEnum dockMode = deviceService.getDockMode(sn);
+ return DockModeCodeEnum.IDLE == dockMode;
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/ResultNotifyDTO.java b/src/main/java/com/dji/sample/control/model/dto/ResultNotifyDTO.java
new file mode 100644
index 0000000..0de9461
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/ResultNotifyDTO.java
@@ -0,0 +1,24 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class ResultNotifyDTO {
+
+ private Integer result;
+
+ private String message;
+
+ private String sn;
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/ReturnHomeState.java b/src/main/java/com/dji/sample/control/model/dto/ReturnHomeState.java
new file mode 100644
index 0000000..66957ab
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/ReturnHomeState.java
@@ -0,0 +1,27 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.common.util.SpringBeanUtils;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
+import com.dji.sample.manage.service.IDeviceRedisService;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/19
+ */
+
+public class ReturnHomeState extends RemoteDebugHandler {
+
+ @Override
+ public boolean canPublish(String sn) {
+ IDeviceRedisService deviceRedisService = SpringBeanUtils.getBean(IDeviceRedisService.class);
+ return deviceRedisService.getDeviceOnline(sn)
+ .map(DeviceDTO::getChildDeviceSn)
+ .flatMap(deviceSn -> deviceRedisService.getDeviceOsd(deviceSn, OsdSubDeviceReceiver.class))
+ .map(OsdSubDeviceReceiver::getElevation)
+ .map(elevation -> elevation > 0)
+ .orElse(false);
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/dto/TakeoffProgressReceiver.java b/src/main/java/com/dji/sample/control/model/dto/TakeoffProgressReceiver.java
new file mode 100644
index 0000000..e4f5a83
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/dto/TakeoffProgressReceiver.java
@@ -0,0 +1,25 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.control.model.enums.TakeoffStatusEnum;
+import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+@Data
+public class TakeoffProgressReceiver {
+
+ private WaylineErrorCodeEnum result;
+
+ private TakeoffStatusEnum status;
+
+ private String flightId;
+
+ private String trackId;
+
+ private Integer wayPointIndex;
+
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/CameraModeEnum.java b/src/main/java/com/dji/sample/control/model/enums/CameraModeEnum.java
new file mode 100644
index 0000000..a6dfe3c
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/CameraModeEnum.java
@@ -0,0 +1,26 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/3
+ */
+public enum CameraModeEnum {
+
+ PHOTO, VIDEO;
+
+ @JsonValue
+ public int getVal() {
+ return ordinal();
+ }
+
+ @JsonCreator
+ public static CameraModeEnum find(int val) {
+ return Arrays.stream(values()).filter(modeEnum -> modeEnum.ordinal() == val).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/CameraStateEnum.java b/src/main/java/com/dji/sample/control/model/enums/CameraStateEnum.java
new file mode 100644
index 0000000..fbe9f1a
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/CameraStateEnum.java
@@ -0,0 +1,26 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public enum CameraStateEnum {
+
+ IDLE, WORKING;
+
+ @JsonValue
+ public int getVal() {
+ return ordinal();
+ }
+
+ @JsonCreator
+ public static CameraStateEnum find(int val) {
+ return Arrays.stream(values()).filter(stateEnum -> stateEnum.ordinal() == val).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/CameraTypeEnum.java b/src/main/java/com/dji/sample/control/model/enums/CameraTypeEnum.java
new file mode 100644
index 0000000..cda43e1
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/CameraTypeEnum.java
@@ -0,0 +1,38 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+import lombok.Getter;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/3
+ */
+@Getter
+public enum CameraTypeEnum {
+
+ ZOOM("zoom"),
+
+ WIDE("wide"),
+
+ IR("ir");
+
+ String type;
+
+ CameraTypeEnum(String type) {
+ this.type = type;
+ }
+
+ @JsonValue
+ public String getType() {
+ return type;
+ }
+
+ @JsonCreator
+ public static CameraTypeEnum find(String cameraType) {
+ return Arrays.stream(CameraTypeEnum.values()).filter(typeEnum -> typeEnum.type.equals(cameraType)).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/DrcMethodEnum.java b/src/main/java/com/dji/sample/control/model/enums/DrcMethodEnum.java
new file mode 100644
index 0000000..93697d7
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/DrcMethodEnum.java
@@ -0,0 +1,22 @@
+package com.dji.sample.control.model.enums;
+
+import lombok.Getter;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Getter
+public enum DrcMethodEnum {
+
+ DRC_MODE_ENTER("drc_mode_enter"),
+
+ DRC_MODE_EXIT("drc_mode_exit");
+
+ String method;
+
+ DrcMethodEnum(String method) {
+ this.method = method;
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/DrcModeReasonEnum.java b/src/main/java/com/dji/sample/control/model/enums/DrcModeReasonEnum.java
new file mode 100644
index 0000000..ceb20ac
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/DrcModeReasonEnum.java
@@ -0,0 +1,47 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+public enum DrcModeReasonEnum {
+
+ UNKNOWN(-1, "unknown"),
+
+ RC_LOST(0, "The remote controller is lost."),
+
+ BATTERY_LOW_GO_HOME(1, "Due to low battery, the drone automatically returned home."),
+
+ BATTERY_SUPER_LOW_LANDING(2, "Due to the serious low battery, the drone landed automatically."),
+
+ NEAR_BOUNDARY(3, "The drone is near a not-fly zone."),
+
+ RC_AUTHORITY(4, "The remote controller grabs control authority.");
+
+ int val;
+
+ String message;
+
+ DrcModeReasonEnum(int val, String message) {
+ this.val = val;
+ this.message = message;
+ }
+
+ public int getVal() {
+ return val;
+ }
+
+ public String getMessage() {
+ return message;
+ }
+
+ @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+ public static DrcModeReasonEnum find(int val) {
+ return Arrays.stream(values()).filter(reasonEnum -> reasonEnum.val == val).findAny().orElse(UNKNOWN);
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/DrcStatusErrorEnum.java b/src/main/java/com/dji/sample/control/model/enums/DrcStatusErrorEnum.java
new file mode 100644
index 0000000..1cee634
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/DrcStatusErrorEnum.java
@@ -0,0 +1,52 @@
+package com.dji.sample.control.model.enums;
+
+import com.dji.sample.common.error.IErrorInfo;
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/17
+ */
+public enum DrcStatusErrorEnum implements IErrorInfo {
+
+ SUCCESS(0, "success"),
+
+ MQTT_ERR(514300, "The mqtt connection error."),
+
+ HEARTBEAT_TIMEOUT(514301, "The heartbeat times out and the dock disconnects."),
+
+ MQTT_CERTIFICATE_ERR(514302, "The mqtt certificate is abnormal and the connection fails."),
+
+ MQTT_LOST(514303, "The dock network is abnormal and the mqtt connection is lost."),
+
+ MQTT_REFUSE(514304, "The dock connection to mqtt server was refused."),
+
+ UNKNOWN(-1, "Unknown");
+
+ String msg;
+
+ int code;
+
+ DrcStatusErrorEnum(int code, String msg) {
+ this.code = code;
+ this.msg = msg;
+ }
+
+ @Override
+ public String getErrorMsg() {
+ return msg;
+ }
+
+ @Override
+ public Integer getErrorCode() {
+ return code;
+ }
+
+ @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+ public static DrcStatusErrorEnum find(int code) {
+ return Arrays.stream(values()).filter(error -> error.code == code).findAny().orElse(UNKNOWN);
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/DroneAuthorityEnum.java b/src/main/java/com/dji/sample/control/model/enums/DroneAuthorityEnum.java
new file mode 100644
index 0000000..e751f7e
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/DroneAuthorityEnum.java
@@ -0,0 +1,25 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonValue;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+public enum DroneAuthorityEnum {
+
+ FLIGHT(1), PAYLOAD(2);
+
+ int val;
+
+ DroneAuthorityEnum(int val) {
+ this.val = val;
+ }
+
+ @JsonValue
+ public int getVal() {
+ return val;
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/DroneControlMethodEnum.java b/src/main/java/com/dji/sample/control/model/enums/DroneControlMethodEnum.java
new file mode 100644
index 0000000..dcb6a21
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/DroneControlMethodEnum.java
@@ -0,0 +1,28 @@
+package com.dji.sample.control.model.enums;
+
+import lombok.Getter;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/21
+ */
+@Getter
+public enum DroneControlMethodEnum {
+
+ FLIGHT_AUTHORITY_GRAB("flight_authority_grab"),
+
+ PAYLOAD_AUTHORITY_GRAB("payload_authority_grab"),
+
+ FLY_TO_POINT("fly_to_point"),
+
+ FLY_TO_POINT_STOP("fly_to_point_stop"),
+
+ TAKE_OFF_TO_POINT("takeoff_to_point");
+
+ String method;
+
+ DroneControlMethodEnum(String method) {
+ this.method = method;
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/FlyToStatusEnum.java b/src/main/java/com/dji/sample/control/model/enums/FlyToStatusEnum.java
new file mode 100644
index 0000000..4291769
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/FlyToStatusEnum.java
@@ -0,0 +1,39 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+public enum FlyToStatusEnum {
+
+ WAYLINE_PROGRESS("wayline_progress", "The FlyTo job is in progress."),
+
+ WAYLINE_FAILED("wayline_failed", "The Fly To task execution failed."),
+
+ WAYLINE_OK("wayline_ok", "The FlyTo job executed successfully."),
+
+ WAYLINE_CANCEL("wayline_cancel", "The FlyTo job is closed.");
+
+ String status;
+
+ String message;
+
+ FlyToStatusEnum(String status, String message) {
+ this.status = status;
+ this.message = message;
+ }
+
+ public String getMessage() {
+ return message;
+ }
+
+ @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+ public static FlyToStatusEnum find(String status) {
+ return Arrays.stream(values()).filter(statusEnum -> statusEnum.status.equals(status)).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/GimbalResetModeEnum.java b/src/main/java/com/dji/sample/control/model/enums/GimbalResetModeEnum.java
new file mode 100644
index 0000000..2c7e9dd
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/GimbalResetModeEnum.java
@@ -0,0 +1,26 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/13
+ */
+public enum GimbalResetModeEnum {
+
+ RECENTER, DOWN, RECENTER_PAN, PITCH_DOWN;
+
+ @JsonValue
+ public int getVal() {
+ return ordinal();
+ }
+
+ @JsonCreator
+ public static GimbalResetModeEnum find(int value) {
+ return Arrays.stream(values()).filter(resetModeEnum -> resetModeEnum.ordinal() == value).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/MqttAclAccessEnum.java b/src/main/java/com/dji/sample/control/model/enums/MqttAclAccessEnum.java
new file mode 100644
index 0000000..771e4dc
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/MqttAclAccessEnum.java
@@ -0,0 +1,24 @@
+package com.dji.sample.control.model.enums;
+
+import lombok.Getter;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/13
+ */
+@Getter
+public enum MqttAclAccessEnum {
+
+ SUB(1),
+
+ PUB(2),
+
+ ALL(3);
+
+ int value;
+
+ MqttAclAccessEnum(int value) {
+ this.value = value;
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/PayloadCommandsEnum.java b/src/main/java/com/dji/sample/control/model/enums/PayloadCommandsEnum.java
new file mode 100644
index 0000000..1f1241f
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/PayloadCommandsEnum.java
@@ -0,0 +1,52 @@
+package com.dji.sample.control.model.enums;
+
+import com.dji.sample.control.service.impl.*;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/2
+ */
+public enum PayloadCommandsEnum {
+
+ CAMERA_MODE_SWitCH("camera_mode_switch", CameraModeSwitchImpl.class),
+
+ CAMERA_PHOTO_TAKE("camera_photo_take", CameraPhotoTakeImpl.class),
+
+ CAMERA_RECORDING_START("camera_recording_start", CameraRecordingStartImpl.class),
+
+ CAMERA_RECORDING_STOP("camera_recording_stop", CameraRecordingStopImpl.class),
+
+ CAMERA_AIM("camera_aim", CameraAimImpl.class),
+
+ CAMERA_FOCAL_LENGTH_SET("camera_focal_length_set", CameraFocalLengthSetImpl.class),
+
+ GIMBAL_RESET("gimbal_reset", GimbalResetImpl.class);
+
+ String cmd;
+
+ Class<? extends PayloadCommandsHandler> clazz;
+
+ PayloadCommandsEnum(String cmd, Class<? extends PayloadCommandsHandler> clazz) {
+ this.cmd = cmd;
+ this.clazz = clazz;
+ }
+
+ @JsonValue
+ public String getCmd() {
+ return cmd;
+ }
+
+ public Class<? extends PayloadCommandsHandler> getClazz() {
+ return clazz;
+ }
+
+ @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+ public static PayloadCommandsEnum find(String cmd) {
+ return Arrays.stream(values()).filter(cmdEnum -> cmdEnum.cmd.equals(cmd)).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/enums/RemoteControlMethodEnum.java b/src/main/java/com/dji/sample/control/model/enums/RemoteDebugMethodEnum.java
similarity index 70%
rename from src/main/java/com/dji/sample/control/model/enums/RemoteControlMethodEnum.java
rename to src/main/java/com/dji/sample/control/model/enums/RemoteDebugMethodEnum.java
index 130239c..3bfed6e 100644
--- a/src/main/java/com/dji/sample/control/model/enums/RemoteControlMethodEnum.java
+++ b/src/main/java/com/dji/sample/control/model/enums/RemoteDebugMethodEnum.java
@@ -1,9 +1,7 @@
package com.dji.sample.control.model.enums;
-import com.dji.sample.control.model.dto.AlarmState;
-import com.dji.sample.control.model.dto.BatteryStoreMode;
-import com.dji.sample.control.model.dto.LinkWorkMode;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
+import com.dji.sample.control.model.dto.*;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
import lombok.Getter;
import java.util.Arrays;
@@ -14,9 +12,9 @@
* @date 2022/11/14
*/
@Getter
-public enum RemoteControlMethodEnum {
+public enum RemoteDebugMethodEnum {
- DEBUG_MODE_OPEN("debug_mode_open", false, null),
+ DEBUG_MODE_OPEN("debug_mode_open", false, RemoteDebugOpenState.class),
DEBUG_MODE_CLOSE("debug_mode_close", false, null),
@@ -24,7 +22,7 @@
SUPPLEMENT_LIGHT_CLOSE("supplement_light_close", false, null),
- RETURN_HOME("return_home", false, null),
+ RETURN_HOME("return_home", false, ReturnHomeState.class),
DEVICE_REBOOT("device_reboot", true, null),
@@ -64,16 +62,16 @@
private Boolean progress;
- private Class<? extends BasicDeviceProperty> clazz;
+ private Class<? extends RemoteDebugHandler> clazz;
- RemoteControlMethodEnum(String method, Boolean progress, Class<? extends BasicDeviceProperty> clazz) {
+ RemoteDebugMethodEnum(String method, Boolean progress, Class<? extends RemoteDebugHandler> clazz) {
this.method = method;
this.progress = progress;
this.clazz = clazz;
}
- public static RemoteControlMethodEnum find(String method) {
- return Arrays.stream(RemoteControlMethodEnum.values())
+ public static RemoteDebugMethodEnum find(String method) {
+ return Arrays.stream(RemoteDebugMethodEnum.values())
.filter(methodEnum -> methodEnum.method.equals(method))
.findAny()
.orElse(UNKNOWN);
diff --git a/src/main/java/com/dji/sample/control/model/enums/TakeoffStatusEnum.java b/src/main/java/com/dji/sample/control/model/enums/TakeoffStatusEnum.java
new file mode 100644
index 0000000..94ae3de
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/enums/TakeoffStatusEnum.java
@@ -0,0 +1,47 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/17
+ */
+public enum TakeoffStatusEnum {
+
+ TASK_READY("task_ready", "The drone is preparing to take off."),
+
+ WAYLINE_PROGRESS("wayline_progress", "The drone is taking off."),
+
+ WAYLINE_FAILED("wayline_failed", "The drone failed to take off."),
+
+ WAYLINE_OK("wayline_ok", "The drone took off successfully."),
+
+ WAYLINE_CANCEL("wayline_cancel", "The drone takeoff job has been cancelled."),
+
+ TASK_FINISH("task_finish", "The drone takeoff job is completed.");
+
+ String status;
+
+ String message;
+
+ TakeoffStatusEnum(String status, String message) {
+ this.status = status;
+ this.message = message;
+ }
+
+ public String getStatus() {
+ return status;
+ }
+
+ public String getMessage() {
+ return message;
+ }
+
+ @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+ public static TakeoffStatusEnum find(String status) {
+ return Arrays.stream(values()).filter(statusEnum -> statusEnum.status.equals(status)).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/model/param/DeviceDrcInfoParam.java b/src/main/java/com/dji/sample/control/model/param/DeviceDrcInfoParam.java
new file mode 100644
index 0000000..05930f0
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/param/DeviceDrcInfoParam.java
@@ -0,0 +1,19 @@
+package com.dji.sample.control.model.param;
+
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/2
+ */
+@Data
+public class DeviceDrcInfoParam {
+
+ @Range(min = 1, max = 30)
+ private Integer osdFrequency = 10;
+
+ @Range(min = 1, max = 30)
+ private Integer hsiFrequency = 1;
+}
diff --git a/src/main/java/com/dji/sample/control/model/param/DrcConnectParam.java b/src/main/java/com/dji/sample/control/model/param/DrcConnectParam.java
new file mode 100644
index 0000000..3aa7926
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/param/DrcConnectParam.java
@@ -0,0 +1,19 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.component.redis.RedisConst;
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Data
+public class DrcConnectParam {
+
+ private String clientId;
+
+ @Range(min = 1800, max = 86400)
+ private long expireSec = RedisConst.DRC_MODE_ALIVE_SECOND;
+}
diff --git a/src/main/java/com/dji/sample/control/model/param/DrcModeParam.java b/src/main/java/com/dji/sample/control/model/param/DrcModeParam.java
new file mode 100644
index 0000000..a750dc5
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/param/DrcModeParam.java
@@ -0,0 +1,35 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.component.redis.RedisConst;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.Valid;
+import javax.validation.constraints.NotBlank;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class DrcModeParam {
+
+ @NotBlank
+ private String clientId;
+
+ @NotBlank
+ private String dockSn;
+
+ @Range(min = 1800, max = 86400)
+ private long expireSec = RedisConst.DRC_MODE_ALIVE_SECOND;
+
+ @Valid
+ private DeviceDrcInfoParam deviceInfo = new DeviceDrcInfoParam();
+}
diff --git a/src/main/java/com/dji/sample/control/model/param/DronePayloadParam.java b/src/main/java/com/dji/sample/control/model/param/DronePayloadParam.java
new file mode 100644
index 0000000..97d156e
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/param/DronePayloadParam.java
@@ -0,0 +1,54 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.control.model.enums.CameraModeEnum;
+import com.dji.sample.control.model.enums.CameraTypeEnum;
+import com.dji.sample.control.model.enums.GimbalResetModeEnum;
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.constraints.NotNull;
+import javax.validation.constraints.Pattern;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+@Data
+public class DronePayloadParam {
+
+ @Pattern(regexp = "\\d+-\\d+-\\d+")
+ @NotNull
+ private String payloadIndex;
+
+ private CameraTypeEnum cameraType;
+
+ @Range(min = 2, max = 200)
+ private Float zoomFactor;
+
+ private CameraModeEnum cameraMode;
+
+ /**
+ * true: Lock the gimbal, the gimbal and the drone rotate together.
+ * false: Only the gimbal rotates, but the drone does not.
+ */
+ private Boolean locked;
+
+ private Double pitchSpeed;
+
+ /**
+ * Only valid when locked is false.
+ */
+ private Double yawSpeed;
+
+ /**
+ * upper left corner as center point
+ */
+ @Range(min = 0, max = 1)
+ private Double x;
+
+ @Range(min = 0, max = 1)
+ private Double y;
+
+ private GimbalResetModeEnum resetMode;
+}
diff --git a/src/main/java/com/dji/sample/control/model/param/FlyToPointParam.java b/src/main/java/com/dji/sample/control/model/param/FlyToPointParam.java
new file mode 100644
index 0000000..98b03e1
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/param/FlyToPointParam.java
@@ -0,0 +1,37 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.control.model.dto.PointDTO;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.Valid;
+import javax.validation.constraints.NotNull;
+import javax.validation.constraints.Size;
+import java.util.List;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/14
+ */
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+public class FlyToPointParam {
+
+ private String flyToId;
+
+ @Range(min = 1, max = 15)
+ @NotNull
+ private Integer maxSpeed;
+
+ /**
+ * The M30 series only support one point.
+ */
+ @Size(min = 1)
+ @Valid
+ @NotNull
+ private List<PointDTO> points;
+}
diff --git a/src/main/java/com/dji/sample/control/model/param/PayloadCommandsParam.java b/src/main/java/com/dji/sample/control/model/param/PayloadCommandsParam.java
new file mode 100644
index 0000000..f5c4a6e
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/param/PayloadCommandsParam.java
@@ -0,0 +1,27 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.control.model.enums.PayloadCommandsEnum;
+import lombok.Data;
+
+import javax.validation.Valid;
+import javax.validation.constraints.NotNull;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/2
+ */
+@Data
+public class PayloadCommandsParam {
+
+ private String sn;
+
+ @NotNull
+ @Valid
+ private PayloadCommandsEnum cmd;
+
+ @Valid
+ @NotNull
+ private DronePayloadParam data;
+
+}
diff --git a/src/main/java/com/dji/sample/control/model/param/TakeoffToPointParam.java b/src/main/java/com/dji/sample/control/model/param/TakeoffToPointParam.java
new file mode 100644
index 0000000..4de1273
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/model/param/TakeoffToPointParam.java
@@ -0,0 +1,49 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
+import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.constraints.NotNull;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+@Data
+public class TakeoffToPointParam {
+
+ private String flightId;
+
+ @Range(min = -180, max = 180)
+ @NotNull
+ private Double targetLongitude;
+
+ @Range(min = -90, max = 90)
+ @NotNull
+ private Double targetLatitude;
+
+ @Range(min = 2, max = 1500)
+ @NotNull
+ private Double targetHeight;
+
+ @Range(min = 2, max = 1500)
+ @NotNull
+ private Double securityTakeoffHeight;
+
+ @Range(min = 2, max = 1500)
+ @NotNull
+ private Double rthAltitude;
+
+ @NotNull
+ private DroneRcLostActionEnum rcLostAction;
+
+ @NotNull
+ private WaylineRcLostActionEnum exitWaylineWhenRcLost;
+
+ @Range(min = 1, max = 15)
+ @NotNull
+ private Double maxSpeed;
+}
diff --git a/src/main/java/com/dji/sample/control/service/IControlService.java b/src/main/java/com/dji/sample/control/service/IControlService.java
index f04c138..f9e122b 100644
--- a/src/main/java/com/dji/sample/control/service/IControlService.java
+++ b/src/main/java/com/dji/sample/control/service/IControlService.java
@@ -2,7 +2,8 @@
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
-import com.dji.sample.control.model.param.RemoteDebugParam;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.param.*;
import org.springframework.messaging.MessageHeaders;
/**
@@ -19,13 +20,60 @@
* @param param
* @return
*/
- ResponseResult controlDock(String sn, String serviceIdentifier, RemoteDebugParam param);
+ ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param);
/**
- * Handles multi-state command progress information.
+ * Make the drone fly to the target point.
+ * @param sn
+ * @param param
+ * @return
+ */
+ ResponseResult flyToPoint(String sn, FlyToPointParam param);
+
+ /**
+ * End the mission of flying the drone to the target point.
+ * @param sn
+ * @return
+ */
+ ResponseResult flyToPointStop(String sn);
+
+ /**
+ * Handle progress result notifications for fly to target point.
* @param receiver
* @param headers
+ * @return
*/
- void handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+ CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+ /**
+ * Control the drone to take off.
+ * @param sn
+ * @param param
+ * @return
+ */
+ ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param);
+
+ /**
+ * Handle progress result notifications for takeoff to target point.
+ * @param receiver
+ * @param headers
+ * @return
+ */
+ CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+
+ /**
+ * Seize the control authority of the drone or the payload control authority.
+ * @param sn
+ * @param authority
+ * @param param
+ * @return
+ */
+ ResponseResult seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param);
+
+ /**
+ * Control the payload of the drone.
+ * @param param
+ * @return
+ */
+ ResponseResult payloadCommands(PayloadCommandsParam param) throws Exception;
}
diff --git a/src/main/java/com/dji/sample/control/service/IDrcService.java b/src/main/java/com/dji/sample/control/service/IDrcService.java
new file mode 100644
index 0000000..505f526
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/IDrcService.java
@@ -0,0 +1,60 @@
+package com.dji.sample.control.service;
+
+import com.dji.sample.control.model.dto.JwtAclDTO;
+import com.dji.sample.control.model.dto.MqttBrokerDTO;
+import com.dji.sample.control.model.param.DrcConnectParam;
+import com.dji.sample.control.model.param.DrcModeParam;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+public interface IDrcService {
+
+ /**
+ * Save the drc mode of dock in redis.
+ * @param dockSn
+ * @param clientId
+ */
+ void setDrcModeInRedis(String dockSn, String clientId);
+
+ /**
+ * Query the client that is controlling the dock.
+ * @param dockSn
+ * @return clientId
+ */
+ String getDrcModeInRedis(String dockSn);
+
+ /**
+ * Delete the drc mode of dock in redis.
+ * @param dockSn
+ * @return
+ */
+ Boolean delDrcModeInRedis(String dockSn);
+
+ /**
+ * Provide mqtt options for the control terminal.
+ * @param workspaceId
+ * @param userId
+ * @param username
+ * @param param
+ * @return
+ */
+ MqttBrokerDTO userDrcAuth(String workspaceId, String userId, String username, DrcConnectParam param);
+
+ /**
+ * Make the dock enter drc mode. And grant relevant permissions.
+ * @param workspaceId
+ * @param param
+ * @return
+ */
+ JwtAclDTO deviceDrcEnter(String workspaceId, DrcModeParam param);
+
+ /**
+ * Make the dock exit drc mode.
+ * @param workspaceId
+ * @param param
+ */
+ void deviceDrcExit(String workspaceId, DrcModeParam param);
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/CameraAimImpl.java b/src/main/java/com/dji/sample/control/service/impl/CameraAimImpl.java
new file mode 100644
index 0000000..4afb448
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/CameraAimImpl.java
@@ -0,0 +1,24 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraAimImpl extends PayloadCommandsHandler {
+
+ public CameraAimImpl(DronePayloadParam param) {
+ super(param);
+ }
+
+ @Override
+ public boolean valid() {
+ return Objects.nonNull(param.getX()) && Objects.nonNull(param.getY())
+ && Objects.nonNull(param.getLocked()) && Objects.nonNull(param.getCameraType());
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/CameraFocalLengthSetImpl.java b/src/main/java/com/dji/sample/control/service/impl/CameraFocalLengthSetImpl.java
new file mode 100644
index 0000000..d8b1450
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/CameraFocalLengthSetImpl.java
@@ -0,0 +1,41 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.enums.CameraTypeEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraFocalLengthSetImpl extends PayloadCommandsHandler {
+
+ public CameraFocalLengthSetImpl(DronePayloadParam param) {
+ super(param);
+ }
+
+ @Override
+ public boolean valid() {
+ return Objects.nonNull(param.getCameraType()) && Objects.nonNull(param.getZoomFactor())
+ && (CameraTypeEnum.ZOOM == param.getCameraType()
+ || CameraTypeEnum.IR == param.getCameraType());
+ }
+
+ @Override
+ public boolean canPublish(String deviceSn) {
+ super.canPublish(deviceSn);
+ if (CameraStateEnum.WORKING == osdCamera.getPhotoState()) {
+ return false;
+ }
+ switch (param.getCameraType()) {
+ case IR:
+ return param.getZoomFactor().intValue() != osdCamera.getIrZoomFactor();
+ case ZOOM:
+ return param.getZoomFactor().intValue() != osdCamera.getZoomFactor();
+ }
+ return false;
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/CameraModeSwitchImpl.java b/src/main/java/com/dji/sample/control/service/impl/CameraModeSwitchImpl.java
new file mode 100644
index 0000000..b20dbf0
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/CameraModeSwitchImpl.java
@@ -0,0 +1,31 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraModeSwitchImpl extends PayloadCommandsHandler {
+
+ public CameraModeSwitchImpl(DronePayloadParam param) {
+ super(param);
+ }
+
+ @Override
+ public boolean valid() {
+ return Objects.nonNull(param.getCameraMode());
+ }
+
+ @Override
+ public boolean canPublish(String deviceSn) {
+ super.canPublish(deviceSn);
+ return param.getCameraMode() != osdCamera.getCameraMode()
+ && CameraStateEnum.IDLE == osdCamera.getPhotoState()
+ && CameraStateEnum.IDLE == osdCamera.getRecordingState();
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/CameraPhotoTakeImpl.java b/src/main/java/com/dji/sample/control/service/impl/CameraPhotoTakeImpl.java
new file mode 100644
index 0000000..79034b3
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/CameraPhotoTakeImpl.java
@@ -0,0 +1,22 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraPhotoTakeImpl extends PayloadCommandsHandler {
+
+ public CameraPhotoTakeImpl(DronePayloadParam param) {
+ super(param);
+ }
+
+ @Override
+ public boolean canPublish(String deviceSn) {
+ super.canPublish(deviceSn);
+ return CameraStateEnum.WORKING != osdCamera.getPhotoState() && osdCamera.getRemainPhotoNum() > 0;
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStartImpl.java b/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStartImpl.java
new file mode 100644
index 0000000..afe7f79
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStartImpl.java
@@ -0,0 +1,25 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraModeEnum;
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraRecordingStartImpl extends PayloadCommandsHandler {
+
+ public CameraRecordingStartImpl(DronePayloadParam param) {
+ super(param);
+ }
+
+ @Override
+ public boolean canPublish(String deviceSn) {
+ super.canPublish(deviceSn);
+ return CameraModeEnum.VIDEO == osdCamera.getCameraMode()
+ && CameraStateEnum.IDLE == osdCamera.getRecordingState()
+ && osdCamera.getRemainRecordDuration() > 0;
+ }
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStopImpl.java b/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStopImpl.java
new file mode 100644
index 0000000..929816b
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStopImpl.java
@@ -0,0 +1,22 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraRecordingStopImpl extends PayloadCommandsHandler {
+
+ public CameraRecordingStopImpl(DronePayloadParam param) {
+ super(param);
+ }
+
+ @Override
+ public boolean canPublish(String deviceSn) {
+ super.canPublish(deviceSn);
+ return CameraStateEnum.WORKING == osdCamera.getRecordingState();
+ }
+}
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 beb1e29..d9d43a7 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
@@ -6,26 +6,34 @@
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.ResultNotifyDTO;
+import com.dji.sample.control.model.dto.TakeoffProgressReceiver;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.enums.DroneControlMethodEnum;
+import com.dji.sample.control.model.enums.RemoteDebugMethodEnum;
+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.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 java.util.Objects;
+import java.util.Optional;
import java.util.UUID;
/**
@@ -44,55 +52,49 @@
private ISendMessageService webSocketMessageService;
@Autowired
- private IWebSocketManageService webSocketManageService;
+ private IDeviceService deviceService;
@Autowired
- private IDeviceService deviceService;
+ private IDeviceRedisService deviceRedisService;
@Autowired
private ObjectMapper mapper;
+ @Autowired
+ private IDevicePayloadService devicePayloadService;
+
+ 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("The current state of the dock does not support this function.");
+ }
+ if (Objects.nonNull(param) && !handler.valid()) {
+ throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
+ }
+ return handler;
+ }
+
@Override
- public ResponseResult controlDock(String sn, String serviceIdentifier, RemoteDebugParam param) {
- RemoteControlMethodEnum controlMethodEnum = RemoteControlMethodEnum.find(serviceIdentifier);
- if (RemoteControlMethodEnum.UNKNOWN == controlMethodEnum) {
+ public ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param) {
+ RemoteDebugMethodEnum controlMethodEnum = RemoteDebugMethodEnum.find(serviceIdentifier);
+ if (RemoteDebugMethodEnum.UNKNOWN == controlMethodEnum) {
return ResponseResult.error("The " + serviceIdentifier + " method does not exist.");
}
- Object data = "";
- // 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);
- }
- data = basicDeviceProperty;
- }
+ RemoteDebugHandler data = checkDebugCondition(sn, param, controlMethodEnum);
- boolean isExist = deviceService.checkDeviceOnline(sn);
+ boolean isExist = deviceRedisService.checkDeviceOnline(sn);
if (!isExist) {
return ResponseResult.error("The dock is offline.");
}
- 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(data)
- .build());
+ ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, serviceIdentifier, data, bid);
- ServiceReply<EventsOutputReceiver> serviceReply = mapper.convertValue(
- serviceReplyOpt, new TypeReference<ServiceReply<EventsOutputReceiver>>() {});
if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
return ResponseResult.error(serviceReply.getResult(),
- Objects.nonNull(serviceReply.getOutput()) ? serviceReply.getOutput().getStatus()
- : "error: " + serviceIdentifier + serviceReply.getResult());
+ "error: " + serviceIdentifier + serviceReply.getResult());
}
if (controlMethodEnum.getProgress()) {
RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
@@ -101,17 +103,22 @@
return ResponseResult.success();
}
- @Override
- @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND)
- public void handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+ /**
+ * 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;
+ return receiver;
}
String sn = RedisOpsUtils.get(key).toString();
- EventsReceiver<EventsOutputReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
- new TypeReference<EventsReceiver<EventsOutputReceiver>>(){});
+ EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
+ new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>(){});
eventsReceiver.setBid(receiver.getBid());
eventsReceiver.setSn(sn);
@@ -127,26 +134,168 @@
RedisOpsUtils.del(key);
}
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.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("The device is offline.");
+ }
+
+ 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("The dock is offline, please restart the dock.");
+ }
+
+ DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
+ if (DeviceModeCodeEnum.MANUAL != deviceMode) {
+ throw new RuntimeException("The current state of the drone does not support this function, please try again later.");
+ }
+
+ 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("Flying to the target point failed." + 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("The drone flying to the target point failed to stop. " + reply.getResult())
+ : ResponseResult.success();
+ }
+
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+ String dockSn = receiver.getGateway();
+
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (deviceOpt.isEmpty()) {
+ log.error("The dock is offline.");
+ 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());
+ return receiver;
+ }
+
+ private void checkTakeoffCondition(String dockSn) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (dockOpt.isEmpty() || DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) {
+ throw new RuntimeException("The current state does not support takeoff.");
+ }
+
+ 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);
+
+ 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("The drone failed to take off. " + 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("The dock is offline.");
+ 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(), "Method: " + method + " Error Code:" + serviceReply.getResult())
+ : ResponseResult.success();
+ }
+
+ private Boolean checkPayloadAuthority(String sn, String payloadIndex) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
+ if (dockOpt.isEmpty()) {
+ throw new RuntimeException("The dock is offline, please restart the dock.");
+ }
+ 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(), " Error Code:" + serviceReply.getResult())
+ : ResponseResult.success();
+ }
+
}
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
new file mode 100644
index 0000000..7e089cc
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
@@ -0,0 +1,249 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.component.mqtt.config.MqttConfiguration;
+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.BizCodeEnum;
+import com.dji.sample.component.websocket.service.ISendMessageService;
+import com.dji.sample.control.model.dto.*;
+import com.dji.sample.control.model.enums.DrcMethodEnum;
+import com.dji.sample.control.model.enums.DrcStatusErrorEnum;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.enums.MqttAclAccessEnum;
+import com.dji.sample.control.model.param.DrcConnectParam;
+import com.dji.sample.control.model.param.DrcModeParam;
+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.DockModeCodeEnum;
+import com.dji.sample.manage.model.enums.UserTypeEnum;
+import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
+import com.dji.sample.manage.service.IDeviceRedisService;
+import com.dji.sample.manage.service.IDeviceService;
+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.UpdateJobParam;
+import com.dji.sample.wayline.service.IWaylineJobService;
+import com.dji.sample.wayline.service.IWaylineRedisService;
+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.messaging.MessageHeaders;
+import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
+
+import java.util.Collections;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Service
+@Slf4j
+public class DrcServiceImpl implements IDrcService {
+
+ @Autowired
+ private IMessageSenderService messageSenderService;
+
+ @Autowired
+ private ObjectMapper objectMapper;
+
+ @Autowired
+ private IWaylineJobService waylineJobService;
+
+ @Autowired
+ private IDeviceService deviceService;
+
+ @Autowired
+ private ObjectMapper mapper;
+
+ @Autowired
+ private ISendMessageService webSocketMessageService;
+
+ @Autowired
+ private IControlService controlService;
+
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
+
+ @Autowired
+ private IWaylineRedisService waylineRedisService;
+
+ @Override
+ public void setDrcModeInRedis(String dockSn, String clientId) {
+ RedisOpsUtils.setWithExpire(RedisConst.DRC_PREFIX + dockSn, clientId, RedisConst.DRC_MODE_ALIVE_SECOND);
+ }
+
+ @Override
+ public String getDrcModeInRedis(String dockSn) {
+ return (String) RedisOpsUtils.get(RedisConst.DRC_PREFIX + dockSn);
+ }
+
+ @Override
+ public Boolean delDrcModeInRedis(String dockSn) {
+ return RedisOpsUtils.del(RedisConst.DRC_PREFIX + dockSn);
+ }
+
+ @Override
+ public MqttBrokerDTO userDrcAuth(String workspaceId, String userId, String username, DrcConnectParam param) {
+
+ // refresh token
+ String clientId = param.getClientId();
+ // first time
+ if (!StringUtils.hasText(clientId) || !RedisOpsUtils.checkExist(RedisConst.MQTT_ACL_PREFIX + clientId)) {
+ clientId = userId + "-" + System.currentTimeMillis();
+ RedisOpsUtils.hashSet(RedisConst.MQTT_ACL_PREFIX + clientId, "", MqttAclAccessEnum.ALL.getValue());
+ }
+
+ String key = RedisConst.MQTT_ACL_PREFIX + clientId;
+
+ try {
+ RedisOpsUtils.expireKey(key, RedisConst.DRC_MODE_ALIVE_SECOND);
+
+ return MqttConfiguration.getMqttBrokerWithDrc(
+ clientId, username, param.getExpireSec(), Collections.emptyMap());
+ } catch (RuntimeException e) {
+ RedisOpsUtils.del(key);
+ throw e;
+ }
+ }
+
+ private void checkDrcModeCondition(String workspaceId, String dockSn) {
+ Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningOpt = waylineRedisService.getRunningWaylineJob(dockSn);
+ if (runningOpt.isPresent() && WaylineJobStatusEnum.IN_PROGRESS == waylineJobService.getWaylineState(dockSn)) {
+ waylineJobService.updateJobStatus(workspaceId, runningOpt.get().getBid(),
+ UpdateJobParam.builder().status(WaylineTaskStatusEnum.PAUSE).build());
+ }
+
+ DockModeCodeEnum dockMode = deviceService.getDockMode(dockSn);
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (dockOpt.isPresent() && (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode)) {
+ Optional<OsdSubDeviceReceiver> deviceOsd = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
+ if (deviceOsd.isEmpty() || deviceOsd.get().getElevation() <= 0) {
+ throw new RuntimeException("The drone is not in the sky and cannot enter command flight mode.");
+ }
+ } else {
+ throw new RuntimeException("The current state of the dock does not support entering command flight mode.");
+ }
+
+ ResponseResult result = controlService.seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
+ if (ResponseResult.CODE_SUCCESS != result.getCode()) {
+ throw new IllegalArgumentException(result.getMessage());
+ }
+
+ }
+
+ @Override
+ public JwtAclDTO deviceDrcEnter(String workspaceId, DrcModeParam param) {
+ String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + param.getDockSn() + TopicConst.DRC;
+ String pubTopic = topic + TopicConst.DOWN;
+ String subTopic = topic + TopicConst.UP;
+
+ // If the dock is in drc mode, refresh the permissions directly.
+ if (deviceService.checkDockDrcMode(param.getDockSn())
+ && param.getClientId().equals(this.getDrcModeInRedis(param.getDockSn()))) {
+ refreshAcl(param.getDockSn(), param.getClientId(), topic, subTopic);
+ return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
+ }
+
+ checkDrcModeCondition(workspaceId, param.getDockSn());
+
+ ServiceReply reply = messageSenderService.publishServicesTopic(
+ param.getDockSn(), DrcMethodEnum.DRC_MODE_ENTER.getMethod(),
+ DrcModeDTO.builder()
+ .mqttBroker(MqttConfiguration.getMqttBrokerWithDrc(param.getDockSn() + "-" + System.currentTimeMillis(), param.getDockSn(),
+ RedisConst.DRC_MODE_ALIVE_SECOND.longValue(),
+ Map.of(MapKeyConst.ACL, objectMapper.convertValue(JwtAclDTO.builder()
+ .pub(List.of(subTopic))
+ .sub(List.of(pubTopic))
+ .build(), new TypeReference<Map<String, ?>>() {}))))
+ .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!");
+ }
+
+ refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic);
+ return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
+ }
+
+ private void refreshAcl(String dockSn, String clientId, String pubTopic, String subTopic) {
+ this.setDrcModeInRedis(dockSn, clientId);
+
+ // assign acl，Match by clientId. https://www.emqx.io/docs/zh/v4.4/advanced/acl-redis.html
+ // scheme: HSET mqtt_acl:[clientid] [topic] [access]
+ String key = RedisConst.MQTT_ACL_PREFIX + clientId;
+ RedisOpsUtils.hashSet(key, pubTopic, MqttAclAccessEnum.PUB.getValue());
+ RedisOpsUtils.hashSet(key, subTopic, MqttAclAccessEnum.SUB.getValue());
+ }
+
+ @Override
+ public void deviceDrcExit(String workspaceId, DrcModeParam param) {
+ if (!deviceService.checkDockDrcMode(param.getDockSn())) {
+ throw new RuntimeException("The dock is not in flight control mode.");
+ }
+ 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!");
+ }
+
+ String jobId = waylineRedisService.getPausedWaylineJobId(param.getDockSn());
+ if (StringUtils.hasText(jobId)) {
+ waylineJobService.updateJobStatus(workspaceId, jobId, UpdateJobParam.builder().status(WaylineTaskStatusEnum.RESUME).build());
+ }
+
+ this.delDrcModeInRedis(param.getDockSn());
+ RedisOpsUtils.del(RedisConst.MQTT_ACL_PREFIX + param.getClientId());
+ }
+
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleDrcStatusNotify(CommonTopicReceiver receiver, MessageHeaders headers) {
+ String dockSn = receiver.getGateway();
+
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (deviceOpt.isEmpty()) {
+ return null;
+ }
+
+ DrcStatusNotifyReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<DrcStatusNotifyReceiver>(){});
+ if (DrcStatusErrorEnum.SUCCESS != eventsReceiver.getResult()) {
+ webSocketMessageService.sendBatch(
+ deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.DRC_STATUS_NOTIFY.getCode(),
+ ResultNotifyDTO.builder().sn(dockSn)
+ .message(eventsReceiver.getResult().getErrorMsg())
+ .result(eventsReceiver.getResult().getErrorCode()).build());
+ }
+ return receiver;
+ }
+
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleDrcModeExitNotify(CommonTopicReceiver receiver, MessageHeaders headers) {
+ String dockSn = receiver.getGateway();
+
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (deviceOpt.isEmpty()) {
+ return null;
+ }
+
+ DrcModeReasonReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<DrcModeReasonReceiver>(){});
+ webSocketMessageService.sendBatch(
+ deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.JOYSTICK_INVALID_NOTIFY.getCode(),
+ ResultNotifyDTO.builder().sn(dockSn)
+ .message(eventsReceiver.getReason().getMessage())
+ .result(eventsReceiver.getReason().getVal()).build());
+ return receiver;
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/GimbalResetImpl.java b/src/main/java/com/dji/sample/control/service/impl/GimbalResetImpl.java
new file mode 100644
index 0000000..4e7a310
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/GimbalResetImpl.java
@@ -0,0 +1,22 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class GimbalResetImpl extends PayloadCommandsHandler {
+ public GimbalResetImpl(DronePayloadParam param) {
+ super(param);
+ }
+
+ @Override
+ public boolean valid() {
+ return Objects.nonNull(param.getResetMode());
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/PayloadCommandsHandler.java b/src/main/java/com/dji/sample/control/service/impl/PayloadCommandsHandler.java
new file mode 100644
index 0000000..c0eeee6
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/PayloadCommandsHandler.java
@@ -0,0 +1,82 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.common.util.SpringBeanUtils;
+import com.dji.sample.control.model.param.DronePayloadParam;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.receiver.OsdCameraReceiver;
+import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
+import com.dji.sample.manage.service.IDevicePayloadService;
+import com.dji.sample.manage.service.IDeviceRedisService;
+
+import java.util.Optional;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public abstract class PayloadCommandsHandler {
+
+ DronePayloadParam param;
+
+ OsdCameraReceiver osdCamera;
+
+ PayloadCommandsHandler(DronePayloadParam param) {
+ this.param = param;
+ }
+
+ public boolean valid() {
+ return true;
+ }
+
+ public boolean canPublish(String deviceSn) {
+ Optional<OsdSubDeviceReceiver> deviceOpt = SpringBeanUtils.getBean(IDeviceRedisService.class)
+ .getDeviceOsd(deviceSn, OsdSubDeviceReceiver.class);
+ if (deviceOpt.isEmpty()) {
+ throw new RuntimeException("The device is offline.");
+ }
+ osdCamera = deviceOpt.get().getCameras().stream()
+ .filter(osdCamera -> param.getPayloadIndex().equals(osdCamera.getPayloadIndex()))
+ .findAny()
+ .orElseThrow(() -> new RuntimeException("Did not receive osd information about the camera, please check the cache data."));
+ return true;
+ }
+
+ private String checkDockOnline(String dockSn) {
+ Optional<DeviceDTO> deviceOpt = SpringBeanUtils.getBean(IDeviceRedisService.class).getDeviceOnline(dockSn);
+ if (deviceOpt.isEmpty()) {
+ throw new RuntimeException("The dock is offline.");
+ }
+ return deviceOpt.get().getChildDeviceSn();
+ }
+
+ private void checkDeviceOnline(String deviceSn) {
+ boolean isOnline = SpringBeanUtils.getBean(IDeviceRedisService.class).checkDeviceOnline(deviceSn);
+ if (!isOnline) {
+ throw new RuntimeException("The device is offline.");
+ }
+ }
+
+ private void checkAuthority(String deviceSn) {
+ boolean hasAuthority = SpringBeanUtils.getBean(IDevicePayloadService.class)
+ .checkAuthorityPayload(deviceSn, param.getPayloadIndex());
+ if (!hasAuthority) {
+ throw new RuntimeException("The device does not have payload control authority.");
+ }
+ }
+
+ public final void checkCondition(String dockSn) {
+ if (!valid()) {
+ throw new RuntimeException("illegal argument");
+ }
+
+ String deviceSn = checkDockOnline(dockSn);
+ checkDeviceOnline(deviceSn);
+ checkAuthority(deviceSn);
+
+ if (!canPublish(deviceSn)) {
+ throw new RuntimeException("The current state of the drone does not support this function, please try again later.");
+ }
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/control/service/impl/RemoteDebugHandler.java b/src/main/java/com/dji/sample/control/service/impl/RemoteDebugHandler.java
new file mode 100644
index 0000000..ed33e51
--- /dev/null
+++ b/src/main/java/com/dji/sample/control/service/impl/RemoteDebugHandler.java
@@ -0,0 +1,23 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.common.util.SpringBeanUtils;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
+import com.dji.sample.manage.service.IDeviceService;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2022/10/27
+ */
+public class RemoteDebugHandler {
+
+ public boolean valid() {
+ return false;
+ }
+
+ public boolean canPublish(String sn) {
+ IDeviceService deviceService = SpringBeanUtils.getBean(IDeviceService.class);
+ DockModeCodeEnum dockMode = deviceService.getDockMode(sn);
+ return DockModeCodeEnum.REMOTE_DEBUGGING == dockMode;
+ }
+}
diff --git a/src/main/java/com/dji/sample/manage/controller/DevicePayloadController.java b/src/main/java/com/dji/sample/manage/controller/DevicePayloadController.java
deleted file mode 100644
index 17a7658..0000000
--- a/src/main/java/com/dji/sample/manage/controller/DevicePayloadController.java
+++ /dev/null
@@ -1,35 +0,0 @@
-package com.dji.sample.manage.controller;
-
-import com.dji.sample.component.mqtt.model.ChannelName;
-import com.dji.sample.manage.model.receiver.DeviceBasicReceiver;
-import com.dji.sample.manage.service.IDevicePayloadService;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.integration.annotation.ServiceActivator;
-import org.springframework.messaging.MessageHeaders;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @author sean.zhou
- * @date 2021/11/19
- * @version 0.1
- */
-@RestController
-public class DevicePayloadController {
-
- @Autowired
- private IDevicePayloadService devicePayloadService;
-
- /**
- * Handles messages in the state topic about basic drone data.
- *
- * Note: Only the data of the drone payload is handled here. You can handle other data from the drone
- * according to your business needs.
- * @param deviceBasic basic drone data
- * @param headers
- */
- @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_BASIC)
- public void stateBasic(DeviceBasicReceiver deviceBasic, MessageHeaders headers) {
-
- devicePayloadService.saveDeviceBasicPayload(deviceBasic.getPayloads(), headers.getTimestamp());
- }
-}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/manage/model/dto/DeviceAuthorityDTO.java b/src/main/java/com/dji/sample/manage/model/dto/DeviceAuthorityDTO.java
new file mode 100644
index 0000000..72621e1
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/dto/DeviceAuthorityDTO.java
@@ -0,0 +1,26 @@
+package com.dji.sample.manage.model.dto;
+
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/2
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class DeviceAuthorityDTO {
+
+ private String sn;
+
+ private DroneAuthorityEnum type;
+
+ private String controlSource;
+
+}
diff --git a/src/main/java/com/dji/sample/manage/model/dto/DeviceDTO.java b/src/main/java/com/dji/sample/manage/model/dto/DeviceDTO.java
index 68466d7..d4c7399 100644
--- a/src/main/java/com/dji/sample/manage/model/dto/DeviceDTO.java
+++ b/src/main/java/com/dji/sample/manage/model/dto/DeviceDTO.java
@@ -25,7 +25,7 @@
private String workspaceId;
- private String deviceIndex;
+ private String controlSource;
private String deviceDesc;
@@ -62,4 +62,6 @@
private Integer firmwareStatus;
private Integer firmwareProgress;
+
+ private String parentSn;
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/manage/model/dto/DevicePayloadDTO.java b/src/main/java/com/dji/sample/manage/model/dto/DevicePayloadDTO.java
index bb16641..555eb90 100644
--- a/src/main/java/com/dji/sample/manage/model/dto/DevicePayloadDTO.java
+++ b/src/main/java/com/dji/sample/manage/model/dto/DevicePayloadDTO.java
@@ -23,7 +23,11 @@
private String payloadName;
- private Integer payloadIndex;
+ private Integer index;
private String payloadDesc;
+
+ private String controlSource;
+
+ private String payloadIndex;
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/manage/model/entity/DevicePayloadEntity.java b/src/main/java/com/dji/sample/manage/model/entity/DevicePayloadEntity.java
index a54ff0d..c50db1e 100644
--- a/src/main/java/com/dji/sample/manage/model/entity/DevicePayloadEntity.java
+++ b/src/main/java/com/dji/sample/manage/model/entity/DevicePayloadEntity.java
@@ -53,4 +53,7 @@
@TableField(value = "payload_desc")
private String payloadDesc;
+ @TableField(value = "control_source")
+ private String controlSource;
+
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/manage/model/enums/ControlSourceEnum.java b/src/main/java/com/dji/sample/manage/model/enums/ControlSourceEnum.java
new file mode 100644
index 0000000..764bc3c
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/enums/ControlSourceEnum.java
@@ -0,0 +1,26 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/16
+ */
+public enum ControlSourceEnum {
+
+ A, B;
+
+ @JsonValue
+ public String getControlSource() {
+ return name();
+ }
+
+ @JsonCreator
+ public static ControlSourceEnum find(String controlSource) {
+ return Arrays.stream(values()).filter(controlSourceEnum -> controlSourceEnum.name().equals(controlSource)).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/manage/model/enums/DeviceDomainEnum.java b/src/main/java/com/dji/sample/manage/model/enums/DeviceDomainEnum.java
index 22475b2..2ce85a2 100644
--- a/src/main/java/com/dji/sample/manage/model/enums/DeviceDomainEnum.java
+++ b/src/main/java/com/dji/sample/manage/model/enums/DeviceDomainEnum.java
@@ -2,6 +2,8 @@
import lombok.Getter;
+import java.util.Arrays;
+
/**
*
* @author sean.zhou
@@ -17,11 +19,17 @@
PAYLOAD(1),
- DOCK (3);
+ DOCK (3),
+
+ UNKNOWN(-1);
int val;
DeviceDomainEnum(int val) {
this.val = val;
}
+
+ public static DeviceDomainEnum find(int val) {
+ return Arrays.stream(values()).filter(domainEnum -> domainEnum.val == val).findAny().orElse(UNKNOWN);
+ }
}
diff --git a/src/main/java/com/dji/sample/manage/model/enums/DeviceModeCodeEnum.java b/src/main/java/com/dji/sample/manage/model/enums/DeviceModeCodeEnum.java
new file mode 100644
index 0000000..9957032
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/enums/DeviceModeCodeEnum.java
@@ -0,0 +1,64 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/9
+ */
+public enum DeviceModeCodeEnum {
+
+ IDLE(0),
+
+ TAKEOFF_PREPARE(1),
+
+ TAKEOFF_FINISHED(2),
+
+ MANUAL(3),
+
+ TAKEOFF_AUTO(4),
+
+ WAYLINE(5),
+
+ PANORAMIC_SHOT(6),
+
+ ACTIVE_TRACK(7),
+
+ ADS_B_AVOIDANCE(8),
+
+ RETURN_AUTO(9),
+
+ LANDING_AUTO(10),
+
+ LANDING_FORCED(11),
+
+ LANDING_THREE_PROPELLER(12),
+
+ UPGRADING(13),
+
+ DISCONNECTED(14),
+
+ APAS(15),
+
+ VIRTUAL_JOYSTICK(16);
+
+ int val;
+
+ DeviceModeCodeEnum(int val) {
+ this.val = val;
+ }
+
+ @JsonValue
+ public int getVal() {
+ return val;
+ }
+
+ @JsonCreator
+ public static DeviceModeCodeEnum find(int value) {
+ return Arrays.stream(values()).filter(modeCodeEnum -> modeCodeEnum.ordinal() == value).findAny().orElse(DISCONNECTED);
+ }
+}
diff --git a/src/main/java/com/dji/sample/manage/model/enums/DeviceSetPropertyEnum.java b/src/main/java/com/dji/sample/manage/model/enums/DeviceSetPropertyEnum.java
index 214767c..07c6658 100644
--- a/src/main/java/com/dji/sample/manage/model/enums/DeviceSetPropertyEnum.java
+++ b/src/main/java/com/dji/sample/manage/model/enums/DeviceSetPropertyEnum.java
@@ -20,8 +20,11 @@
DISTANCE_LIMIT_STATUS("distance_limit_status", DistanceLimitStatusReceiver.class),
- OBSTACLE_AVOIDANCE("obstacle_avoidance", ObstacleAvoidanceReceiver.class);
+ OBSTACLE_AVOIDANCE("obstacle_avoidance", ObstacleAvoidanceReceiver.class),
+ RTH_ALTITUDE("rth_altitude", RthAltitudeReceiver.class),
+
+ OUT_OF_CONTROL_ACTION("out_of_control_action", OutOfControlActionReceiver.class);
String property;
diff --git a/src/main/java/com/dji/sample/manage/model/enums/DockDrcStateEnum.java b/src/main/java/com/dji/sample/manage/model/enums/DockDrcStateEnum.java
new file mode 100644
index 0000000..9683f1f
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/enums/DockDrcStateEnum.java
@@ -0,0 +1,36 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/2/28
+ */
+public enum DockDrcStateEnum {
+
+ DISCONNECTED(0),
+
+ CONNECTING(1),
+
+ CONNECTED(2);
+
+ int val;
+
+ DockDrcStateEnum(int val) {
+ this.val = val;
+ }
+
+ @JsonValue
+ public int getVal() {
+ return val;
+ }
+
+ @JsonCreator
+ public static DockDrcStateEnum find(int val) {
+ return Arrays.stream(values()).filter(drcState -> drcState.getVal() == val).findAny().orElse(DISCONNECTED);
+ }
+}
diff --git a/src/main/java/com/dji/sample/manage/model/enums/DockModeCodeEnum.java b/src/main/java/com/dji/sample/manage/model/enums/DockModeCodeEnum.java
new file mode 100644
index 0000000..ae1aa91
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/enums/DockModeCodeEnum.java
@@ -0,0 +1,42 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/2/28
+ */
+public enum DockModeCodeEnum {
+
+ IDLE(0),
+
+ DEBUGGING(1),
+
+ REMOTE_DEBUGGING(2),
+
+ UPGRADING(3),
+
+ WORKING(4),
+
+ DISCONNECTED(-1);
+
+ int val;
+
+ DockModeCodeEnum(int val) {
+ this.val = val;
+ }
+
+ @JsonValue
+ public int getVal() {
+ return val;
+ }
+
+ @JsonCreator
+ public static DockModeCodeEnum find(int val) {
+ return Arrays.stream(values()).filter(modeCode -> modeCode.getVal() == val).findAny().orElse(DISCONNECTED);
+ }
+}
diff --git a/src/main/java/com/dji/sample/manage/model/enums/DroneRcLostActionEnum.java b/src/main/java/com/dji/sample/manage/model/enums/DroneRcLostActionEnum.java
new file mode 100644
index 0000000..116847e
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/enums/DroneRcLostActionEnum.java
@@ -0,0 +1,26 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+public enum DroneRcLostActionEnum {
+
+ HOVER, LAND, RETURN_HOME;
+
+ @JsonValue
+ public int getVal() {
+ return ordinal();
+ }
+
+ @JsonCreator
+ public static DroneRcLostActionEnum find(int val) {
+ return Arrays.stream(values()).filter(controlActionEnum -> controlActionEnum.ordinal() == val).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/manage/model/enums/HmsEnum.java b/src/main/java/com/dji/sample/manage/model/enums/HmsEnum.java
index 04b083a..20af72f 100644
--- a/src/main/java/com/dji/sample/manage/model/enums/HmsEnum.java
+++ b/src/main/java/com/dji/sample/manage/model/enums/HmsEnum.java
@@ -38,20 +38,6 @@
}
@Getter
- public enum DomainType {
- DRONE_NEST("drone_nest"),
-
- DRONE("drone");
-
- private String domain;
-
- DomainType(String domain) {
- this.domain = domain;
- }
-
- }
-
- @Getter
public enum HmsFaqIdEnum {
DOCK_TIP("dock_tip_"),
diff --git a/src/main/java/com/dji/sample/manage/model/enums/WaylineRcLostActionEnum.java b/src/main/java/com/dji/sample/manage/model/enums/WaylineRcLostActionEnum.java
new file mode 100644
index 0000000..3632452
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/enums/WaylineRcLostActionEnum.java
@@ -0,0 +1,26 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/15
+ */
+public enum WaylineRcLostActionEnum {
+
+ CONTINUE_WAYLINE, EXECUTE_RC_LOST_ACTION;
+
+ @JsonValue
+ public int getVal() {
+ return ordinal();
+ }
+
+ @JsonCreator
+ public static WaylineRcLostActionEnum find(int val) {
+ return Arrays.stream(values()).filter(lostActionEnum -> lostActionEnum.ordinal() == val).findAny().get();
+ }
+}
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/BasicDeviceProperty.java b/src/main/java/com/dji/sample/manage/model/receiver/BasicDeviceProperty.java
index b232ce8..f32273d 100644
--- a/src/main/java/com/dji/sample/manage/model/receiver/BasicDeviceProperty.java
+++ b/src/main/java/com/dji/sample/manage/model/receiver/BasicDeviceProperty.java
@@ -1,14 +1,11 @@
package com.dji.sample.manage.model.receiver;
-import lombok.Data;
-
/**
* @author sean
* @version 1.3
* @date 2022/10/27
*/
-@Data
-public class BasicDeviceProperty {
+public abstract class BasicDeviceProperty {
public boolean valid() {
return false;
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/DeviceHmsReceiver.java b/src/main/java/com/dji/sample/manage/model/receiver/DeviceHmsReceiver.java
index f2557a5..cc0d66c 100644
--- a/src/main/java/com/dji/sample/manage/model/receiver/DeviceHmsReceiver.java
+++ b/src/main/java/com/dji/sample/manage/model/receiver/DeviceHmsReceiver.java
@@ -14,8 +14,6 @@
private String deviceType;
- private String domainType;
-
private Integer imminent;
private Integer inTheSky;
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/FirmwareProgressExtReceiver.java b/src/main/java/com/dji/sample/manage/model/receiver/FirmwareProgressExtReceiver.java
new file mode 100644
index 0000000..9818b93
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/receiver/FirmwareProgressExtReceiver.java
@@ -0,0 +1,14 @@
+package com.dji.sample.manage.model.receiver;
+
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/30
+ */
+@Data
+public class FirmwareProgressExtReceiver {
+
+ private Long rate;
+}
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/LiveviewWorldRegionReceiver.java b/src/main/java/com/dji/sample/manage/model/receiver/LiveviewWorldRegionReceiver.java
new file mode 100644
index 0000000..b6a09e9
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/receiver/LiveviewWorldRegionReceiver.java
@@ -0,0 +1,20 @@
+package com.dji.sample.manage.model.receiver;
+
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/8
+ */
+@Data
+public class LiveviewWorldRegionReceiver {
+
+ private Double bottom;
+
+ private Double left;
+
+ private Double right;
+
+ private Double top;
+}
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/OsdCameraReceiver.java b/src/main/java/com/dji/sample/manage/model/receiver/OsdCameraReceiver.java
new file mode 100644
index 0000000..96de1bc
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/receiver/OsdCameraReceiver.java
@@ -0,0 +1,34 @@
+package com.dji.sample.manage.model.receiver;
+
+import com.dji.sample.control.model.enums.CameraModeEnum;
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/8
+ */
+@Data
+public class OsdCameraReceiver {
+
+ private CameraModeEnum cameraMode;
+
+ private LiveviewWorldRegionReceiver liveviewWorldRegion;
+
+ private String payloadIndex;
+
+ private CameraStateEnum photoState;
+
+ private Integer recordTime;
+
+ private CameraStateEnum recordingState;
+
+ private Long remainPhotoNum;
+
+ private Long remainRecordDuration;
+
+ private Float zoomFactor;
+
+ private Float irZoomFactor;
+}
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/OsdDockReceiver.java b/src/main/java/com/dji/sample/manage/model/receiver/OsdDockReceiver.java
index 0cd5196..8826d35 100644
--- a/src/main/java/com/dji/sample/manage/model/receiver/OsdDockReceiver.java
+++ b/src/main/java/com/dji/sample/manage/model/receiver/OsdDockReceiver.java
@@ -1,5 +1,7 @@
package com.dji.sample.manage.model.receiver;
+import com.dji.sample.manage.model.enums.DockDrcStateEnum;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import lombok.Data;
/**
@@ -40,13 +42,13 @@
private StorageReceiver storage;
- private Integer modeCode;
+ private DockModeCodeEnum modeCode;
private Integer coverState;
private Integer supplementLightState;
- private Integer emergencyStopState;
+ private Boolean emergencyStopState;
private Integer airConditionerMode;
@@ -85,4 +87,6 @@
private DockSdrReceiver sdr;
private DockWirelessLinkReceiver wirelessLink;
+
+ private DockDrcStateEnum drcState;
}
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/OsdSubDeviceReceiver.java b/src/main/java/com/dji/sample/manage/model/receiver/OsdSubDeviceReceiver.java
index b39fb09..148ad9a 100644
--- a/src/main/java/com/dji/sample/manage/model/receiver/OsdSubDeviceReceiver.java
+++ b/src/main/java/com/dji/sample/manage/model/receiver/OsdSubDeviceReceiver.java
@@ -1,5 +1,8 @@
package com.dji.sample.manage.model.receiver;
+import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
+import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
+import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.databind.PropertyNamingStrategy;
import com.fasterxml.jackson.databind.annotation.JsonNaming;
@@ -41,7 +44,7 @@
private Double longitude;
- private Integer modeCode;
+ private DeviceModeCodeEnum modeCode;
private Double totalFlightDistance;
@@ -67,4 +70,15 @@
private ObstacleAvoidanceReceiver obstacleAvoidance;
+ private Long activationTime;
+
+ private List<OsdCameraReceiver> cameras;
+
+ private DroneRcLostActionEnum rcLostAction;
+
+ private Integer rthAltitude;
+
+ private Integer totalFlightSorties;
+
+ private WaylineRcLostActionEnum exitWaylineWhenRcLost;
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/OutOfControlActionReceiver.java b/src/main/java/com/dji/sample/manage/model/receiver/OutOfControlActionReceiver.java
new file mode 100644
index 0000000..836242e
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/receiver/OutOfControlActionReceiver.java
@@ -0,0 +1,29 @@
+package com.dji.sample.manage.model.receiver;
+
+import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.NoArgsConstructor;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/3
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+public class OutOfControlActionReceiver extends BasicDeviceProperty {
+
+ private Integer value;
+
+ @Override
+ public boolean valid() {
+ return Objects.nonNull(value) && value >= 0 && value < DroneRcLostActionEnum.values().length;
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/manage/model/receiver/RthAltitudeReceiver.java b/src/main/java/com/dji/sample/manage/model/receiver/RthAltitudeReceiver.java
new file mode 100644
index 0000000..1727944
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/model/receiver/RthAltitudeReceiver.java
@@ -0,0 +1,32 @@
+package com.dji.sample.manage.model.receiver;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.NoArgsConstructor;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/3
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+public class RthAltitudeReceiver extends BasicDeviceProperty {
+
+ private Integer value;
+
+ private static final int RTH_ALTITUDE_MAX = 500;
+
+ private static final int RTH_ALTITUDE_MIN = 20;
+
+ @Override
+ public boolean valid() {
+ return Objects.nonNull(this.value) && this.value >= RTH_ALTITUDE_MIN && this.value <= RTH_ALTITUDE_MAX;
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/manage/service/IDeviceFirmwareService.java b/src/main/java/com/dji/sample/manage/service/IDeviceFirmwareService.java
index 2d82e7b..72f50ab 100644
--- a/src/main/java/com/dji/sample/manage/service/IDeviceFirmwareService.java
+++ b/src/main/java/com/dji/sample/manage/service/IDeviceFirmwareService.java
@@ -1,14 +1,12 @@
package com.dji.sample.manage.service;
import com.dji.sample.common.model.PaginationData;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
import com.dji.sample.manage.model.dto.DeviceFirmwareDTO;
import com.dji.sample.manage.model.dto.DeviceFirmwareNoteDTO;
import com.dji.sample.manage.model.dto.DeviceFirmwareUpgradeDTO;
import com.dji.sample.manage.model.param.DeviceFirmwareQueryParam;
import com.dji.sample.manage.model.param.DeviceFirmwareUploadParam;
import com.dji.sample.manage.model.param.DeviceOtaCreateParam;
-import org.springframework.messaging.MessageHeaders;
import org.springframework.web.multipart.MultipartFile;
import java.util.List;
@@ -46,13 +44,6 @@
* @return
*/
List<DeviceOtaCreateParam> getDeviceOtaFirmware(String workspaceId, List<DeviceFirmwareUpgradeDTO> upgradeDTOS);
-
- /**
- * Interface to handle device firmware update progress.
- * @param receiver
- * @param headers
- */
- void handleOtaProgress(CommonTopicReceiver receiver, MessageHeaders headers);
/**
* Query firmware version information by page.
diff --git a/src/main/java/com/dji/sample/manage/service/IDeviceLogsService.java b/src/main/java/com/dji/sample/manage/service/IDeviceLogsService.java
index f115719..aded702 100644
--- a/src/main/java/com/dji/sample/manage/service/IDeviceLogsService.java
+++ b/src/main/java/com/dji/sample/manage/service/IDeviceLogsService.java
@@ -74,8 +74,9 @@
* Handle logs file upload progress.
* @param receiver
* @param headers
+ * @return
*/
- void handleFileUploadProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+ CommonTopicReceiver handleFileUploadProgress(CommonTopicReceiver receiver, MessageHeaders headers);
/**
* Update status, which is updated when the logs upload succeeds or fails.
diff --git a/src/main/java/com/dji/sample/manage/service/IDevicePayloadService.java b/src/main/java/com/dji/sample/manage/service/IDevicePayloadService.java
index 04296c3..11fd20c 100644
--- a/src/main/java/com/dji/sample/manage/service/IDevicePayloadService.java
+++ b/src/main/java/com/dji/sample/manage/service/IDevicePayloadService.java
@@ -55,15 +55,16 @@
void updateFirmwareVersion(FirmwareVersionReceiver receiver);
/**
- * Handle the topic that contains the payloads field in the state, and save the payloads data.
- * @param payloadReceiverList
- * @param timestamp
- */
- void saveDeviceBasicPayload(List<DevicePayloadReceiver> payloadReceiverList, Long timestamp);
-
- /**
* Delete payload data based on payload sn.
* @param payloadSns
*/
void deletePayloadsByPayloadsSn(Collection<String> payloadSns);
+
+ /**
+ * Check if the device has payload control.
+ * @param deviceSn
+ * @param payloadIndex
+ * @return
+ */
+ Boolean checkAuthorityPayload(String deviceSn, String payloadIndex);
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/manage/service/IDeviceRedisService.java b/src/main/java/com/dji/sample/manage/service/IDeviceRedisService.java
new file mode 100644
index 0000000..074101a
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/service/IDeviceRedisService.java
@@ -0,0 +1,95 @@
+package com.dji.sample.manage.service;
+
+import com.dji.sample.component.mqtt.model.EventsOutputProgressReceiver;
+import com.dji.sample.component.mqtt.model.EventsReceiver;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.receiver.FirmwareProgressExtReceiver;
+
+import java.util.Optional;
+import java.util.Set;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/21
+ */
+public interface IDeviceRedisService {
+
+ /**
+ * Determine if the device is online.
+ * @param sn
+ * @return
+ */
+ Boolean checkDeviceOnline(String sn);
+
+ /**
+ * Query the basic information of the device in redis.
+ * @param sn
+ * @return
+ */
+ Optional<DeviceDTO> getDeviceOnline(String sn);
+
+ /**
+ * Save the basic information of the device in redis.
+ * @param device
+ */
+ void setDeviceOnline(DeviceDTO device);
+
+ /**
+ * Delete the basic device information saved in redis.
+ * @param sn
+ * @return
+ */
+ Boolean delDeviceOnline(String sn);
+
+ /**
+ * Get the device's osd real-time data.
+ * @param sn
+ * @param clazz
+ * @param <T>
+ * @return
+ */
+ <T> Optional<T> getDeviceOsd(String sn, Class<T> clazz);
+
+ /**
+ * Save the firmware update progress of the device in redis.
+ * @param sn
+ * @param events
+ */
+ void setFirmwareUpgrading(String sn, EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>> events);
+
+ /**
+ * Query the firmware update progress of the device in redis.
+ * @param sn
+ * @return
+ */
+ Optional<EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>> getFirmwareUpgradingProgress(String sn);
+
+ /**
+ * Delete the firmware update progress of the device in redis.
+ * @param sn
+ * @return
+ */
+ Boolean delFirmwareUpgrading(String sn);
+
+ /**
+ * Save the hms key of the device in redis.
+ * @param sn
+ * @param keys
+ */
+ void addEndHmsKeys(String sn, String... keys);
+
+ /**
+ * Query all hms keys of the device in redis.
+ * @param sn
+ * @return
+ */
+ Set<String> getAllHmsKeys(String sn);
+
+ /**
+ * Delete all hms keys of the device in redis.
+ * @param sn
+ * @return
+ */
+ Boolean delHmsKeysBySn(String sn);
+}
diff --git a/src/main/java/com/dji/sample/manage/service/IDeviceService.java b/src/main/java/com/dji/sample/manage/service/IDeviceService.java
index 11bb1d7..7cf1a17 100644
--- a/src/main/java/com/dji/sample/manage/service/IDeviceService.java
+++ b/src/main/java/com/dji/sample/manage/service/IDeviceService.java
@@ -2,19 +2,18 @@
import com.dji.sample.common.model.PaginationData;
import com.dji.sample.common.model.ResponseResult;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
import com.dji.sample.component.mqtt.model.CommonTopicResponse;
import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.dto.DeviceFirmwareUpgradeDTO;
import com.dji.sample.manage.model.dto.TopologyDeviceDTO;
+import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
import com.dji.sample.manage.model.enums.DeviceSetPropertyEnum;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import com.dji.sample.manage.model.param.DeviceQueryParam;
-import com.dji.sample.manage.model.receiver.FirmwareVersionReceiver;
import com.dji.sample.manage.model.receiver.StatusGatewayReceiver;
import com.fasterxml.jackson.databind.JsonNode;
import org.springframework.messaging.Message;
-import org.springframework.messaging.MessageHeaders;
import java.util.Collection;
import java.util.List;
@@ -155,24 +154,6 @@
Boolean bindDevice(DeviceDTO device);
/**
- * Handle dock binding status requests.
- * Note: If your business does not need to bind the dock to the organization,
- * you can directly reply to the successful message without implementing business logic.
- * @param receiver
- * @param headers
- */
- void bindStatus(CommonTopicReceiver receiver, MessageHeaders headers);
-
- /**
- * Handle dock binding requests.
- * Note: If your business does not need to bind the dock to the organization,
- * you can directly reply to the successful message without implementing business logic.
- * @param receiver
- * @param headers
- */
- void bindDevice(CommonTopicReceiver receiver, MessageHeaders headers);
-
- /**
* Get the binding devices list in one workspace.
* @param workspaceId
* @param page
@@ -194,12 +175,6 @@
* @return device
*/
Optional<DeviceDTO> getDeviceBySn(String sn);
-
- /**
- * Update the firmware version information of the device or payload.
- * @param receiver
- */
- void updateFirmwareVersion(FirmwareVersionReceiver receiver);
/**
* Create job for device firmware updates.
@@ -227,9 +202,31 @@
void deviceOnePropertySet(String topic, DeviceSetPropertyEnum propertyEnum, Map.Entry<String, Object> value);
/**
- * Determine if the device is online.
- * @param sn
+ * Check the working status of the dock.
+ * @param dockSn
* @return
*/
- Boolean checkDeviceOnline(String sn);
+ DockModeCodeEnum getDockMode(String dockSn);
+
+ /**
+ * Query the working status of the aircraft.
+ * @param deviceSn
+ * @return
+ */
+ DeviceModeCodeEnum getDeviceMode(String deviceSn);
+
+ /**
+ * Check if the dock is in drc mode.
+ * @param dockSn
+ * @return
+ */
+ Boolean checkDockDrcMode(String dockSn);
+
+ /**
+ * Check if the device has flight control.
+ * @param gatewaySn
+ * @return
+ */
+ Boolean checkAuthorityFlight(String gatewaySn);
+
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/manage/service/IWorkspaceService.java b/src/main/java/com/dji/sample/manage/service/IWorkspaceService.java
index 2d80777..306760d 100644
--- a/src/main/java/com/dji/sample/manage/service/IWorkspaceService.java
+++ b/src/main/java/com/dji/sample/manage/service/IWorkspaceService.java
@@ -25,8 +25,6 @@
/**
* Handle the request for obtaining the organization information corresponding to the device binding.
- * Note: If your business does not need to bind the dock to the organization,
- * you can directly reply to the successful message without implementing business logic.
* @param receiver
*/
void replyOrganizationGet(CommonTopicReceiver receiver, MessageHeaders headers);
diff --git a/src/main/java/com/dji/sample/manage/service/impl/CapacityCameraServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/CapacityCameraServiceImpl.java
index 926fa36..ec8ac77 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/CapacityCameraServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/CapacityCameraServiceImpl.java
@@ -1,6 +1,5 @@
package com.dji.sample.manage.service.impl;
-import com.dji.sample.component.mqtt.model.StateDataEnum;
import com.dji.sample.component.redis.RedisConst;
import com.dji.sample.component.redis.RedisOpsUtils;
import com.dji.sample.manage.model.dto.CapacityCameraDTO;
@@ -36,20 +35,19 @@
@Override
public List<CapacityCameraDTO> getCapacityCameraByDeviceSn(String deviceSn) {
- return (List<CapacityCameraDTO>) RedisOpsUtils.hashGet(StateDataEnum.LIVE_CAPACITY.getDesc(), deviceSn);
+ return (List<CapacityCameraDTO>) RedisOpsUtils.hashGet(RedisConst.LIVE_CAPACITY, deviceSn);
}
@Override
public Boolean deleteCapacityCameraByDeviceSn(String deviceSn) {
- return RedisOpsUtils.hashDel(StateDataEnum.LIVE_CAPACITY.getDesc(), new String[]{deviceSn});
+ return RedisOpsUtils.hashDel(RedisConst.LIVE_CAPACITY, new String[]{deviceSn});
}
@Override
public void saveCapacityCameraReceiverList(List<CapacityCameraReceiver> capacityCameraReceivers, String deviceSn, Long timestamp) {
List<CapacityCameraDTO> capacity = capacityCameraReceivers.stream()
.map(this::receiver2Dto).collect(Collectors.toList());
- RedisOpsUtils.hashSet(StateDataEnum.LIVE_CAPACITY.getDesc(), deviceSn, capacity);
- RedisOpsUtils.setWithExpire(StateDataEnum.LIVE_CAPACITY + RedisConst.DELIMITER + deviceSn, timestamp, RedisConst.DEVICE_ALIVE_SECOND);
+ RedisOpsUtils.hashSet(RedisConst.LIVE_CAPACITY, deviceSn, capacity);
}
@Override
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceFirmwareServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceFirmwareServiceImpl.java
index 6b99d38..1747040 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/DeviceFirmwareServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/DeviceFirmwareServiceImpl.java
@@ -13,8 +13,7 @@
import com.dji.sample.component.oss.service.impl.OssServiceContext;
import com.dji.sample.component.redis.RedisConst;
import com.dji.sample.component.redis.RedisOpsUtils;
-import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
-import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
+import com.dji.sample.component.websocket.model.BizCodeEnum;
import com.dji.sample.component.websocket.service.IWebSocketManageService;
import com.dji.sample.component.websocket.service.impl.SendMessageServiceImpl;
import com.dji.sample.manage.dao.IDeviceFirmwareMapper;
@@ -24,15 +23,15 @@
import com.dji.sample.manage.model.param.DeviceFirmwareQueryParam;
import com.dji.sample.manage.model.param.DeviceFirmwareUploadParam;
import com.dji.sample.manage.model.param.DeviceOtaCreateParam;
+import com.dji.sample.manage.model.receiver.FirmwareProgressExtReceiver;
import com.dji.sample.manage.service.IDeviceFirmwareService;
-import com.dji.sample.manage.service.IDeviceService;
+import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.IFirmwareModelService;
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.DigestUtils;
@@ -77,13 +76,13 @@
private IWebSocketManageService webSocketManageService;
@Autowired
- private IDeviceService deviceService;
-
- @Autowired
private OssServiceContext ossServiceContext;
@Autowired
private IFirmwareModelService firmwareModelService;
+
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
@Override
public Optional<DeviceFirmwareDTO> getFirmware(String workspaceId, String deviceName, String version) {
@@ -108,7 +107,7 @@
public List<DeviceOtaCreateParam> getDeviceOtaFirmware(String workspaceId, List<DeviceFirmwareUpgradeDTO> upgradeDTOS) {
List<DeviceOtaCreateParam> deviceOtaList = new ArrayList<>();
upgradeDTOS.forEach(upgradeDevice -> {
- boolean exist = deviceService.checkDeviceOnline(upgradeDevice.getSn());
+ boolean exist = deviceRedisService.checkDeviceOnline(upgradeDevice.getSn());
if (!exist) {
throw new IllegalArgumentException("Device is offline.");
}
@@ -125,18 +124,15 @@
return deviceOtaList;
}
- @Override
- @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_OTA_PROGRESS, outputChannel = ChannelName.OUTBOUND)
- public void handleOtaProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
- String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString();
- String sn = topic.substring((TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT).length(),
- topic.indexOf(TopicConst.EVENTS_SUF));
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_OTA_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleOtaProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+ String sn = receiver.getGateway();
- EventsReceiver<EventsOutputReceiver> eventsReceiver = objectMapper.convertValue(receiver.getData(),
- new TypeReference<EventsReceiver<EventsOutputReceiver>>(){});
+ EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>> eventsReceiver = objectMapper.convertValue(receiver.getData(),
+ new TypeReference<EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>>(){});
eventsReceiver.setBid(receiver.getBid());
- EventsOutputReceiver output = eventsReceiver.getOutput();
+ EventsOutputProgressReceiver<FirmwareProgressExtReceiver> output = eventsReceiver.getOutput();
log.info("SN: {}, {} ===> Upgrading progress: {}",
sn, receiver.getMethod(), output.getProgress().toString());
@@ -144,59 +140,34 @@
log.error("SN: {}, {} ===> Error code: {}", sn, receiver.getMethod(), eventsReceiver.getResult());
}
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + sn);
- String childDeviceSn = device.getChildDeviceSn();
- boolean upgrade = RedisOpsUtils.getExpire(RedisConst.FIRMWARE_UPGRADING_PREFIX + sn) > 0;
- boolean childUpgrade = RedisOpsUtils.getExpire(RedisConst.FIRMWARE_UPGRADING_PREFIX + childDeviceSn) > 0;
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
+ if (deviceOpt.isEmpty()) {
+ return null;
+ }
- // Determine whether it is the ending state, delete the update state key in redis after the job ends.
EventsResultStatusEnum statusEnum = EventsResultStatusEnum.find(output.getStatus());
- Collection<ConcurrentWebSocketSession> sessions = webSocketManageService.getValueWithWorkspaceAndUserType(
- device.getWorkspaceId(), UserTypeEnum.WEB.getVal());
- CustomWebSocketMessage<Object> build = CustomWebSocketMessage.builder()
- .data(eventsReceiver)
- .timestamp(System.currentTimeMillis())
- .bizCode(receiver.getMethod())
- .build();
- if (upgrade) {
- if (statusEnum.getEnd()) {
- // Delete the cache after the update is complete.
- RedisOpsUtils.del(RedisConst.FIRMWARE_UPGRADING_PREFIX + sn);
- } else {
- // Update the update progress of the dock in redis.
- RedisOpsUtils.setWithExpire(
- RedisConst.FIRMWARE_UPGRADING_PREFIX + sn, output.getProgress().getPercent(),
- RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
- }
- eventsReceiver.setSn(sn);
- webSocketMessageService.sendBatch(sessions, build);
- }
- if (childUpgrade) {
- if (!StringUtils.hasText(eventsReceiver.getSn())) {
- eventsReceiver.setSn(childDeviceSn);
- webSocketMessageService.sendBatch(sessions, build);
- }
- if (statusEnum.getEnd()) {
- RedisOpsUtils.del(RedisConst.FIRMWARE_UPGRADING_PREFIX + childDeviceSn);
- } else {
- // Update the update progress of the drone in redis.
- RedisOpsUtils.setWithExpire(
- RedisConst.FIRMWARE_UPGRADING_PREFIX + childDeviceSn, output.getProgress().getPercent(),
- RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
- }
- }
+ DeviceDTO device = deviceOpt.get();
+ handleProgress(device.getWorkspaceId(), sn, eventsReceiver, statusEnum.getEnd());
+ handleProgress(device.getWorkspaceId(), device.getChildDeviceSn(), eventsReceiver, statusEnum.getEnd());
- if (receiver.getNeedReply() != null && receiver.getNeedReply() == 1) {
- String replyTopic = headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF;
- messageSenderService.publish(replyTopic,
- CommonTopicResponse.builder()
- .tid(receiver.getTid())
- .bid(receiver.getBid())
- .method(receiver.getMethod())
- .timestamp(System.currentTimeMillis())
- .data(RequestsReply.success())
- .build());
+ return receiver;
+ }
+
+ private void handleProgress(String workspaceId, String sn,
+ EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>> events, boolean isEnd) {
+ boolean upgrade = deviceRedisService.getFirmwareUpgradingProgress(sn).isPresent();
+ if (!upgrade) {
+ return;
}
+ if (isEnd) {
+ // Delete the cache after the update is complete.
+ deviceRedisService.delFirmwareUpgrading(sn);
+ } else {
+ // Update the update progress of the dock in redis.
+ deviceRedisService.setFirmwareUpgrading(sn, events);
+ }
+ events.setSn(sn);
+ webSocketMessageService.sendBatch(workspaceId, UserTypeEnum.WEB.getVal(), BizCodeEnum.OTA_PROGRESS.getCode(), events);
}
@Override
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceHmsServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceHmsServiceImpl.java
index de1d03f..e201155 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/DeviceHmsServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/DeviceHmsServiceImpl.java
@@ -9,11 +9,7 @@
import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
import com.dji.sample.component.mqtt.model.MapKeyConst;
import com.dji.sample.component.mqtt.model.TopicConst;
-import com.dji.sample.component.redis.RedisConst;
-import com.dji.sample.component.redis.RedisOpsUtils;
-import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
import com.dji.sample.component.websocket.model.BizCodeEnum;
-import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
import com.dji.sample.component.websocket.service.impl.SendMessageServiceImpl;
import com.dji.sample.component.websocket.service.impl.WebSocketManageServiceImpl;
import com.dji.sample.manage.dao.IDeviceHmsMapper;
@@ -23,14 +19,17 @@
import com.dji.sample.manage.model.dto.DeviceHmsDTO;
import com.dji.sample.manage.model.dto.TelemetryDTO;
import com.dji.sample.manage.model.entity.DeviceHmsEntity;
+import com.dji.sample.manage.model.enums.DeviceDomainEnum;
import com.dji.sample.manage.model.enums.HmsEnum;
import com.dji.sample.manage.model.enums.UserTypeEnum;
import com.dji.sample.manage.model.param.DeviceHmsQueryParam;
import com.dji.sample.manage.model.receiver.DeviceHmsReceiver;
import com.dji.sample.manage.model.receiver.HmsArgsReceiver;
import com.dji.sample.manage.service.IDeviceHmsService;
+import com.dji.sample.manage.service.IDeviceRedisService;
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;
@@ -54,6 +53,7 @@
*/
@Service
@Transactional
+@Slf4j
public class DeviceHmsServiceImpl implements IDeviceHmsService {
@Autowired
@@ -67,6 +67,9 @@
@Autowired
private WebSocketManageServiceImpl webSocketManageService;
+
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
private static final Pattern PATTERN_KEY = Pattern.compile(
HmsEnum.FormatKeyEnum.KEY_START +
@@ -90,11 +93,8 @@
.updateTime(0L)
.sn(sn)
.build();
- String key = RedisConst.HMS_PREFIX + sn;
// Query all unread hms messages of the device in redis.
- Set<String> hmsMap = RedisOpsUtils.listGetAll(key).stream().map(String::valueOf).collect(Collectors.toSet());
-
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + sn);
+ Set<String> hmsMap = deviceRedisService.getAllHmsKeys(sn);
List<DeviceHmsDTO> unReadList = new ArrayList<>();
objectMapper.convertValue(((Map) (receiver.getData())).get(MapKeyConst.LIST),
@@ -114,15 +114,14 @@
if (unReadList.isEmpty()) {
return;
}
- RedisOpsUtils.listRPush(key, unReadList.stream().map(DeviceHmsDTO::getKey).toArray(String[]::new));
+ deviceRedisService.addEndHmsKeys(sn, unReadList.stream().map(DeviceHmsDTO::getKey).toArray(String[]::new));
// push to the web
- Collection<ConcurrentWebSocketSession> sessions = webSocketManageService.getValueWithWorkspaceAndUserType(
- device.getWorkspaceId(), UserTypeEnum.WEB.getVal());
- sendMessageService.sendBatch(sessions, CustomWebSocketMessage.builder()
- .bizCode(BizCodeEnum.DEVICE_HMS.getCode())
- .data(TelemetryDTO.<List<DeviceHmsDTO>>builder().sn(sn).host(unReadList).build())
- .timestamp(System.currentTimeMillis())
- .build());
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
+ if (deviceOpt.isEmpty()) {
+ return;
+ }
+ sendMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.DEVICE_HMS.getCode(), TelemetryDTO.<List<DeviceHmsDTO>>builder().sn(sn).host(unReadList).build());
}
@Override
@@ -159,7 +158,7 @@
.eq(DeviceHmsEntity::getSn, deviceSn)
.eq(DeviceHmsEntity::getUpdateTime, 0L));
// Delete unread messages cached in redis.
- RedisOpsUtils.del(RedisConst.HMS_PREFIX + deviceSn);
+ deviceRedisService.delHmsKeysBySn(deviceSn);
}
private DeviceHmsDTO entity2Dto(DeviceHmsEntity entity) {
@@ -191,8 +190,12 @@
dto.setLevel(receiver.getLevel());
dto.setModule(receiver.getModule());
dto.setHmsId(UUID.randomUUID().toString());
-
- if (HmsEnum.DomainType.DRONE_NEST.getDomain().equals(receiver.getDomainType())) {
+ Optional<DeviceDomainEnum> domainEnumOpt = Optional.ofNullable(receiver.getDeviceType())
+ .map(type -> type.split("-")).map(type -> type[0]).map(Integer::parseInt).map(DeviceDomainEnum::find);
+ if (domainEnumOpt.isEmpty()) {
+ throw new RuntimeException("The device type does not match, please check the data.");
+ }
+ if (DeviceDomainEnum.DOCK == domainEnumOpt.get()) {
dto.setHmsKey(HmsEnum.HmsFaqIdEnum.DOCK_TIP.getText() + receiver.getCode());
return;
}
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceLogsServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceLogsServiceImpl.java
index b94a0ad..a5aca9a 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/DeviceLogsServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/DeviceLogsServiceImpl.java
@@ -10,9 +10,8 @@
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.manage.dao.IDeviceLogsMapper;
import com.dji.sample.manage.model.dto.*;
import com.dji.sample.manage.model.entity.DeviceLogsEntity;
@@ -22,6 +21,7 @@
import com.dji.sample.manage.model.param.LogsFileUpdateParam;
import com.dji.sample.manage.model.receiver.*;
import com.dji.sample.manage.service.IDeviceLogsService;
+import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.ILogsFileService;
import com.dji.sample.manage.service.ITopologyService;
import com.dji.sample.media.model.StsCredentialsDTO;
@@ -70,9 +70,6 @@
private ILogsFileService logsFileService;
@Autowired
- private RedisOpsUtils redisOpsUtils;
-
- @Autowired
private IStorageService storageService;
@Autowired
@@ -82,7 +79,7 @@
private ISendMessageService webSocketMessageService;
@Autowired
- private IWebSocketManageService webSocketManageService;
+ private IDeviceRedisService deviceRedisService;
@Override
public PaginationData<DeviceLogsDTO> getUploadedLogs(String deviceSn, DeviceLogsQueryParam param) {
@@ -104,29 +101,21 @@
@Override
public ResponseResult getRealTimeLogs(String deviceSn, List<String> domainList) {
- boolean exist = redisOpsUtils.getExpire(RedisConst.DEVICE_ONLINE_PREFIX + deviceSn) > 0;
+ boolean exist = deviceRedisService.checkDeviceOnline(deviceSn);
if (!exist) {
return ResponseResult.error("Device is offline.");
}
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + deviceSn + TopicConst.SERVICES_SUF;
- LogsFileUploadList data = messageSenderService.publishWithReply(
- LogsFileUploadList.class,
- topic,
- CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(UUID.randomUUID().toString())
- .method(LogsFileMethodEnum.FILE_UPLOAD_LIST.getMethod())
- .timestamp(System.currentTimeMillis())
- .data(Map.of(MapKeyConst.MODULE_LIST, domainList))
- .build(), 1);
+ ServiceReply<List<LogsFileUpload>> data = messageSenderService.publishServicesTopic(
+ new TypeReference<List<LogsFileUpload>>() {}, deviceSn, LogsFileMethodEnum.FILE_UPLOAD_LIST.getMethod(),
+ Map.of(MapKeyConst.MODULE_LIST, domainList));
- for (LogsFileUpload file : data.getFiles()) {
+ for (LogsFileUpload file : data.getOutput()) {
if (file.getDeviceSn().isBlank()) {
file.setDeviceSn(deviceSn);
}
}
- return ResponseResult.success(data);
+ return ResponseResult.success(new LogsFileUploadList(data.getOutput(), data.getResult()));
}
@Override
@@ -164,15 +153,8 @@
credentialsDTO.setParams(LogsFileUploadList.builder().files(files).build());
String bid = UUID.randomUUID().toString();
- ServiceReply reply = messageSenderService.publishWithReply(
- TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + deviceSn + TopicConst.SERVICES_SUF,
- CommonTopicResponse.<LogsUploadCredentialsDTO>builder()
- .tid(UUID.randomUUID().toString())
- .bid(bid)
- .timestamp(System.currentTimeMillis())
- .method(LogsFileMethodEnum.FILE_UPLOAD_START.getMethod())
- .data(credentialsDTO)
- .build());
+ ServiceReply reply = messageSenderService.publishServicesTopic(
+ deviceSn, LogsFileMethodEnum.FILE_UPLOAD_START.getMethod(), credentialsDTO, bid);
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
return ResponseResult.error(String.valueOf(reply.getResult()));
@@ -184,7 +166,7 @@
}
// Save the status of the log upload.
- redisOpsUtils.hashSet(RedisConst.LOGS_FILE_PREFIX + deviceSn, bid, LogsOutputProgressDTO.builder().logsId(logsId).build());
+ RedisOpsUtils.hashSet(RedisConst.LOGS_FILE_PREFIX + deviceSn, bid, LogsOutputProgressDTO.builder().logsId(logsId).build());
return ResponseResult.success();
}
@@ -195,16 +177,8 @@
if (LogsFileUpdateMethodEnum.UNKNOWN == method) {
return ResponseResult.error("Illegal param");
}
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + deviceSn + TopicConst.SERVICES_SUF;
- String bid = UUID.randomUUID().toString();
- ServiceReply reply = messageSenderService.publishWithReply(topic,
- CommonTopicResponse.<LogsFileUpdateParam>builder()
- .tid(UUID.randomUUID().toString())
- .bid(bid)
- .timestamp(System.currentTimeMillis())
- .method(LogsFileMethodEnum.FILE_UPLOAD_UPDATE.getMethod())
- .data(param)
- .build());
+ ServiceReply reply = messageSenderService.publishServicesTopic(
+ deviceSn, LogsFileMethodEnum.FILE_UPLOAD_UPDATE.getMethod(), param);
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
return ResponseResult.error("Error Code : " + reply.getResult());
@@ -220,24 +194,12 @@
logsFileService.deleteFileByLogsId(logsId);
}
- @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FILE_UPLOAD_PROGRESS, outputChannel = ChannelName.OUTBOUND)
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FILE_UPLOAD_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
@Override
- public void handleFileUploadProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+ public CommonTopicReceiver handleFileUploadProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString();
String sn = topic.substring((TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT).length(),
topic.indexOf(TopicConst.EVENTS_SUF));
-
- if (receiver.getNeedReply() != null && receiver.getNeedReply() == 1) {
- String replyTopic = headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF;
- messageSenderService.publish(replyTopic,
- CommonTopicResponse.builder()
- .tid(receiver.getTid())
- .bid(receiver.getBid())
- .method(receiver.getMethod())
- .timestamp(System.currentTimeMillis())
- .data(RequestsReply.success())
- .build());
- }
EventsReceiver<OutputLogsProgressReceiver> eventsReceiver = objectMapper.convertValue(receiver.getData(),
new TypeReference<EventsReceiver<OutputLogsProgressReceiver>>(){});
@@ -246,7 +208,12 @@
webSocketData.setBid(receiver.getBid());
webSocketData.setSn(sn);
- DeviceDTO device = (DeviceDTO) redisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + sn);
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
+ if (deviceOpt.isEmpty()) {
+ return null;
+ }
+
+ DeviceDTO device = deviceOpt.get();
try {
OutputLogsProgressReceiver output = eventsReceiver.getOutput();
@@ -255,12 +222,12 @@
String key = RedisConst.LOGS_FILE_PREFIX + sn;
LogsOutputProgressDTO progress;
- boolean exist = redisOpsUtils.checkExist(key);
+ boolean exist = RedisOpsUtils.checkExist(key);
if (!exist && !statusEnum.getEnd()) {
progress = LogsOutputProgressDTO.builder().logsId(receiver.getBid()).build();
- redisOpsUtils.hashSet(key, receiver.getBid(), progress);
+ RedisOpsUtils.hashSet(key, receiver.getBid(), progress);
} else if (exist) {
- progress = (LogsOutputProgressDTO) redisOpsUtils.hashGet(key, receiver.getBid());
+ progress = (LogsOutputProgressDTO) RedisOpsUtils.hashGet(key, receiver.getBid());
} else {
progress = LogsOutputProgressDTO.builder().build();
}
@@ -269,7 +236,7 @@
// If the logs file is empty, delete the cache of this task.
List<LogsExtFileReceiver> fileReceivers = output.getExt().getFiles();
if (CollectionUtils.isEmpty(fileReceivers)) {
- redisOpsUtils.del(RedisConst.LOGS_FILE_PREFIX + sn);
+ RedisOpsUtils.del(RedisConst.LOGS_FILE_PREFIX + sn);
}
// refresh cache.
@@ -295,10 +262,10 @@
});
progress.setFiles(fileProgressList);
webSocketData.setOutput(progress);
- redisOpsUtils.hashSet(RedisConst.LOGS_FILE_PREFIX + sn, receiver.getBid(), progress);
+ RedisOpsUtils.hashSet(RedisConst.LOGS_FILE_PREFIX + sn, receiver.getBid(), progress);
// Delete the cache at the end of the task.
if (statusEnum.getEnd()) {
- redisOpsUtils.del(RedisConst.LOGS_FILE_PREFIX + sn);
+ RedisOpsUtils.del(RedisConst.LOGS_FILE_PREFIX + sn);
this.updateLogsStatus(receiver.getBid(), DeviceLogsStatusEnum.find(statusEnum).getVal());
fileReceivers.forEach(file -> logsFileService.updateFile(receiver.getBid(), file));
@@ -306,18 +273,13 @@
} catch (NullPointerException e) {
this.updateLogsStatus(receiver.getBid(), DeviceLogsStatusEnum.FAILED.getVal());
- redisOpsUtils.del(RedisConst.LOGS_FILE_PREFIX + sn);
+ RedisOpsUtils.del(RedisConst.LOGS_FILE_PREFIX + sn);
}
- webSocketMessageService.sendBatch(
- webSocketManageService.getValueWithWorkspaceAndUserType(
- device.getWorkspaceId(), UserTypeEnum.WEB.getVal()),
- CustomWebSocketMessage.builder()
- .data(webSocketData)
- .timestamp(System.currentTimeMillis())
- .bizCode(receiver.getMethod())
- .build());
+ webSocketMessageService.sendBatch(device.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.FILE_UPLOAD_PROGRESS.getCode(), webSocketData);
+ return receiver;
}
@Override
@@ -340,9 +302,9 @@
return null;
}
String key = RedisConst.LOGS_FILE_PREFIX + entity.getDeviceSn();
- LogsOutputProgressDTO progress = new LogsOutputProgressDTO();
- if (redisOpsUtils.hashCheck(key, entity.getLogsId())) {
- progress = (LogsOutputProgressDTO) redisOpsUtils.hashGet(key, entity.getLogsId());
+ LogsOutputProgressDTO progress = null;
+ if (RedisOpsUtils.hashCheck(key, entity.getLogsId())) {
+ progress = (LogsOutputProgressDTO) RedisOpsUtils.hashGet(key, entity.getLogsId());
}
return DeviceLogsDTO.builder()
@@ -354,7 +316,7 @@
.logsInformation(entity.getLogsInfo())
.userName(entity.getUsername())
.deviceLogs(LogsFileUploadList.builder().files(logsFileService.getLogsFileByLogsId(entity.getLogsId())).build())
- .logsProgress(progress.getFiles())
+ .logsProgress(Objects.requireNonNullElse(progress, new LogsOutputProgressDTO()).getFiles())
.deviceTopo(topologyService.getDeviceTopologyByGatewaySn(entity.getDeviceSn()).orElse(null))
.build();
}
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceOSDServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceOSDServiceImpl.java
index b540e08..e5a596e 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/DeviceOSDServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/DeviceOSDServiceImpl.java
@@ -68,7 +68,7 @@
Map<String, Object> receiverData = (Map<String, Object>) receiver.getData();
data.setPayloads(payloadsList.stream()
.map(payload -> mapper.convertValue(
- receiverData.getOrDefault(payload.getPayloadName(), Map.of()),
+ receiverData.getOrDefault(payload.getPayloadIndex(), Map.of()),
OsdPayloadReceiver.class))
.collect(Collectors.toList()));
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DevicePayloadServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DevicePayloadServiceImpl.java
index 89a7308..04169bd 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/DevicePayloadServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/DevicePayloadServiceImpl.java
@@ -2,21 +2,31 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.dji.sample.component.mqtt.model.ChannelName;
import com.dji.sample.component.redis.RedisConst;
import com.dji.sample.component.redis.RedisOpsUtils;
+import com.dji.sample.component.websocket.model.BizCodeEnum;
+import com.dji.sample.component.websocket.service.ISendMessageService;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.manage.dao.IDevicePayloadMapper;
+import com.dji.sample.manage.model.dto.DeviceAuthorityDTO;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.dto.DeviceDictionaryDTO;
import com.dji.sample.manage.model.dto.DevicePayloadDTO;
import com.dji.sample.manage.model.entity.DevicePayloadEntity;
+import com.dji.sample.manage.model.enums.ControlSourceEnum;
import com.dji.sample.manage.model.enums.DeviceDomainEnum;
+import com.dji.sample.manage.model.enums.UserTypeEnum;
import com.dji.sample.manage.model.receiver.DevicePayloadReceiver;
import com.dji.sample.manage.model.receiver.FirmwareVersionReceiver;
import com.dji.sample.manage.service.ICapacityCameraService;
import com.dji.sample.manage.service.IDeviceDictionaryService;
import com.dji.sample.manage.service.IDevicePayloadService;
+import com.dji.sample.manage.service.IDeviceRedisService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.integration.annotation.ServiceActivator;
+import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
@@ -43,6 +53,12 @@
@Autowired
private ICapacityCameraService capacityCameraService;
+ @Autowired
+ private ISendMessageService sendMessageService;
+
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
+
@Override
public Integer checkPayloadExist(String payloadSn) {
DevicePayloadEntity devicePayload = mapper.selectOne(
@@ -56,7 +72,9 @@
// If it already exists, update the data directly.
if (id > 0) {
entity.setId(id);
- return mapper.updateById(entity);
+ // For the payload of the drone itself, there is no firmware version.
+ entity.setFirmwareVersion(null);
+ return mapper.updateById(entity) > 0 ? entity.getId() : 0;
}
return mapper.insert(entity) > 0 ? entity.getId() : 0;
}
@@ -68,9 +86,17 @@
}
String deviceSn = payloadReceiverList.get(0).getDeviceSn();
- String key = RedisConst.DEVICE_ONLINE_PREFIX + deviceSn;
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(key);
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
+ if (deviceOpt.isEmpty()) {
+ return false;
+ }
+ DeviceDTO device = deviceOpt.get();
List<DevicePayloadDTO> payloads = new ArrayList<>();
+
+ Map<String, String> controlMap = CollectionUtils.isEmpty(device.getPayloadsList()) ?
+ Collections.emptyMap() :
+ device.getPayloadsList().stream()
+ .collect(Collectors.toMap(DevicePayloadDTO::getPayloadIndex, DevicePayloadDTO::getControlSource));
for (DevicePayloadReceiver payloadReceiver : payloadReceiverList) {
int payloadId = this.saveOnePayloadDTO(payloadReceiver);
@@ -78,13 +104,23 @@
return false;
}
payloads.add(this.receiver2Dto(payloadReceiver));
+ if (!controlMap.getOrDefault(payloadReceiver.getPayloadIndex(), "").equals(payloadReceiver.getControlSource())) {
+ sendMessageService.sendBatch(device.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.CONTROL_SOURCE_CHANGE.getCode(),
+ DeviceAuthorityDTO.builder()
+ .controlSource(payloadReceiver.getControlSource())
+ .sn(payloadReceiver.getSn())
+ .type(DroneAuthorityEnum.PAYLOAD)
+ .build());
+ }
}
if (payloads.isEmpty()) {
payloads = this.getDevicePayloadEntitiesByDeviceSn(deviceSn);
}
device.setPayloadsList(payloads);
- RedisOpsUtils.setWithExpire(RedisConst.DEVICE_ONLINE_PREFIX + device.getDeviceSn(), device, RedisConst.DEVICE_ALIVE_SECOND);
+
+ deviceRedisService.setDeviceOnline(device);
return true;
}
@@ -122,33 +158,35 @@
.eq(DevicePayloadEntity::getDeviceSn, receiver.getSn()));
}
- @Override
- public void saveDeviceBasicPayload(List<DevicePayloadReceiver> payloadReceiverList, Long timestamp) {
+ /**
+ * Handle payload data for devices.
+ * @param payloadReceiverList
+ * @param headers
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_PAYLOAD)
+ public void handleDeviceBasicPayload(List<DevicePayloadReceiver> payloadReceiverList, MessageHeaders headers) {
if (payloadReceiverList.isEmpty()) {
return;
}
- String deviceSn = payloadReceiverList.stream().findAny().get().getDeviceSn();
+ String deviceSn = payloadReceiverList.get(0).getDeviceSn();
String key = RedisConst.STATE_PAYLOAD_PREFIX + deviceSn;
// Solve timing problems
long last = (long) Objects.requireNonNullElse(RedisOpsUtils.get(key), 0L);
+ long timestamp = headers.getTimestamp();
if (last > timestamp) {
return;
}
-
// Filter unsaved payload information.
Set<String> payloadSns = this.getDevicePayloadEntitiesByDeviceSn(payloadReceiverList.get(0).getDeviceSn())
.stream().map(DevicePayloadDTO::getPayloadSn).collect(Collectors.toSet());
Set<String> newPayloadSns = payloadReceiverList.stream().map(DevicePayloadReceiver::getSn).collect(Collectors.toSet());
- Set<String> needToDel = payloadSns.stream().filter(sn -> !newPayloadSns.contains(sn)).collect(Collectors.toSet());
- this.deletePayloadsByPayloadsSn(needToDel);
-
- List<DevicePayloadReceiver> needToSave = payloadReceiverList.stream()
- .filter(payload -> !payloadSns.contains(payload.getSn())).collect(Collectors.toList());
+ payloadSns.removeAll(newPayloadSns);
+ this.deletePayloadsByPayloadsSn(payloadSns);
// Save the new payload information.
- boolean isSave = this.savePayloadDTOs(needToSave);
+ boolean isSave = this.savePayloadDTOs(payloadReceiverList);
if (isSave) {
RedisOpsUtils.setWithExpire(key, timestamp, RedisConst.DEVICE_ALIVE_SECOND);
}
@@ -164,6 +202,19 @@
.or(wrapper -> payloadSns.forEach(sn -> wrapper.eq(DevicePayloadEntity::getPayloadSn, sn))));
}
+ @Override
+ public Boolean checkAuthorityPayload(String deviceSn, String payloadIndex) {
+ return deviceRedisService.getDeviceOnline(deviceSn).flatMap(device ->
+ Optional.of(DeviceDomainEnum.SUB_DEVICE.getVal() == device.getDomain()
+ && !CollectionUtils.isEmpty(device.getPayloadsList())
+ && ControlSourceEnum.A.getControlSource()
+ .equals(device.getPayloadsList().stream()
+ .filter(payload -> payloadIndex.equals(payload.getPayloadIndex()))
+ .map(DevicePayloadDTO::getControlSource).findAny()
+ .orElse(ControlSourceEnum.B.getControlSource())))).orElse(true);
+
+ }
+
/**
* Convert database entity objects into payload data transfer object.
* @param entity
@@ -175,7 +226,9 @@
builder.payloadSn(entity.getPayloadSn())
.payloadName(entity.getPayloadName())
.payloadDesc(entity.getPayloadDesc())
- .payloadIndex(entity.getPayloadIndex());
+ .index(entity.getPayloadIndex())
+ .payloadIndex(entity.getPayloadType() + "-" + entity.getSubType() + "-" + entity.getPayloadIndex())
+ .controlSource(entity.getControlSource());
}
return builder.build();
}
@@ -196,25 +249,23 @@
String[] payloadIndexArr = dto.getPayloadIndex().split("-");
try {
int[] arr = Arrays.stream(payloadIndexArr)
- .map(Integer::valueOf)
- .mapToInt(Integer::intValue)
+ .mapToInt(Integer::parseInt)
.toArray();
- if (arr.length == 3) {
- Optional<DeviceDictionaryDTO> dictionaryOpt = dictionaryService
- .getOneDictionaryInfoByTypeSubType(DeviceDomainEnum.PAYLOAD.getVal(), arr[0], arr[1]);
- dictionaryOpt.ifPresent(dictionary ->
- builder.payloadName(dictionary.getDeviceName())
- .payloadDesc(dictionary.getDeviceDesc()));
+ Optional<DeviceDictionaryDTO> dictionaryOpt = dictionaryService
+ .getOneDictionaryInfoByTypeSubType(DeviceDomainEnum.PAYLOAD.getVal(), arr[0], arr[1]);
+ dictionaryOpt.ifPresent(dictionary ->
+ builder.payloadName(dictionary.getDeviceName())
+ .payloadDesc(dictionary.getDeviceDesc()));
- }
builder.payloadType(arr[0])
.subType(arr[1])
- .payloadIndex(arr[2]);
+ .payloadIndex(arr[2])
+ .controlSource(dto.getControlSource());
} catch (NumberFormatException e) {
- builder.payloadType(Integer.valueOf(payloadIndexArr[0]))
+ builder.payloadType(-1)
.subType(-1)
- .payloadIndex(Integer.valueOf(payloadIndexArr[2]));
+ .payloadIndex(-1);
}
return builder
@@ -229,7 +280,8 @@
return builder.build();
}
return builder.payloadSn(receiver.getSn())
- .payloadName(receiver.getPayloadIndex())
+ .payloadIndex(receiver.getPayloadIndex())
+ .controlSource(receiver.getControlSource())
.build();
}
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceRedisServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceRedisServiceImpl.java
new file mode 100644
index 0000000..4629892
--- /dev/null
+++ b/src/main/java/com/dji/sample/manage/service/impl/DeviceRedisServiceImpl.java
@@ -0,0 +1,80 @@
+package com.dji.sample.manage.service.impl;
+
+import com.dji.sample.component.mqtt.model.EventsOutputProgressReceiver;
+import com.dji.sample.component.mqtt.model.EventsReceiver;
+import com.dji.sample.component.redis.RedisConst;
+import com.dji.sample.component.redis.RedisOpsUtils;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.receiver.FirmwareProgressExtReceiver;
+import com.dji.sample.manage.service.IDeviceRedisService;
+import org.springframework.stereotype.Service;
+
+import java.util.Optional;
+import java.util.Set;
+import java.util.stream.Collectors;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/21
+ */
+@Service
+public class DeviceRedisServiceImpl implements IDeviceRedisService {
+
+ @Override
+ public Boolean checkDeviceOnline(String sn) {
+ String key = RedisConst.DEVICE_ONLINE_PREFIX + sn;
+ return RedisOpsUtils.checkExist(key) && RedisOpsUtils.getExpire(key) > 0;
+ }
+
+ @Override
+ public Optional<DeviceDTO> getDeviceOnline(String sn) {
+ return Optional.ofNullable((DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + sn));
+ }
+
+ @Override
+ public void setDeviceOnline(DeviceDTO device) {
+ RedisOpsUtils.setWithExpire(RedisConst.DEVICE_ONLINE_PREFIX + device.getDeviceSn(), device, RedisConst.DEVICE_ALIVE_SECOND);
+ }
+
+ @Override
+ public Boolean delDeviceOnline(String sn) {
+ return RedisOpsUtils.del(RedisConst.DEVICE_ONLINE_PREFIX + sn);
+ }
+
+ @Override
+ public <T> Optional<T> getDeviceOsd(String sn, Class<T> clazz) {
+ return Optional.ofNullable(clazz.cast(RedisOpsUtils.get(RedisConst.OSD_PREFIX + sn)));
+ }
+
+ @Override
+ public void setFirmwareUpgrading(String sn, EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>> events) {
+ RedisOpsUtils.setWithExpire(RedisConst.FIRMWARE_UPGRADING_PREFIX + sn, events, RedisConst.DEVICE_ALIVE_SECOND * 20);
+ }
+
+ @Override
+ public Optional<EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>> getFirmwareUpgradingProgress(String sn) {
+ return Optional.ofNullable((EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>) RedisOpsUtils.get(RedisConst.FIRMWARE_UPGRADING_PREFIX + sn));
+ }
+
+ @Override
+ public Boolean delFirmwareUpgrading(String sn) {
+ return RedisOpsUtils.del(RedisConst.FIRMWARE_UPGRADING_PREFIX + sn);
+ }
+
+ @Override
+ public void addEndHmsKeys(String sn, String... keys) {
+ RedisOpsUtils.listRPush(RedisConst.HMS_PREFIX + sn, keys);
+ }
+
+ @Override
+ public Set<String> getAllHmsKeys(String sn) {
+ return RedisOpsUtils.listGetAll(RedisConst.HMS_PREFIX + sn).stream()
+ .map(String::valueOf).collect(Collectors.toSet());
+ }
+
+ @Override
+ public Boolean delHmsKeysBySn(String sn) {
+ return RedisOpsUtils.del(RedisConst.HMS_PREFIX + sn);
+ }
+}
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
index 6677ca8..809fd7f 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
@@ -17,6 +17,7 @@
import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
import com.dji.sample.component.websocket.service.ISendMessageService;
import com.dji.sample.component.websocket.service.IWebSocketManageService;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.manage.dao.IDeviceMapper;
import com.dji.sample.manage.model.dto.*;
import com.dji.sample.manage.model.entity.DeviceEntity;
@@ -92,6 +93,12 @@
private IDeviceFirmwareService deviceFirmwareService;
@Autowired
+ private ICapacityCameraService capacityCameraService;
+
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
+
+ @Autowired
@Qualifier("gatewayOSDServiceImpl")
private ITSAService tsaService;
@@ -104,24 +111,23 @@
this.subscribeTopicOnline(gatewaySn);
// Only the remote controller is logged in and the aircraft is not connected.
- String key = RedisConst.DEVICE_ONLINE_PREFIX + gatewaySn;
-
- boolean exist = RedisOpsUtils.checkExist(key);
- if (!exist) {
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(gatewaySn);
+ if (deviceOpt.isEmpty()) {
Optional<DeviceDTO> gatewayOpt = this.getDeviceBySn(gatewaySn);
if (gatewayOpt.isPresent()) {
DeviceDTO value = gatewayOpt.get();
- RedisOpsUtils.setWithExpire(key, value, RedisConst.DEVICE_ALIVE_SECOND);
+ value.setChildDeviceSn(null);
+ deviceRedisService.setDeviceOnline(value);
this.pushDeviceOnlineTopo(value.getWorkspaceId(), gatewaySn, gatewaySn);
return true;
}
// When connecting for the first time
DeviceEntity gatewayDevice = deviceGatewayConvertToDeviceEntity(gateway);
- return onlineSaveDevice(gatewayDevice, null).isPresent();
+ return onlineSaveDevice(gatewayDevice, null, null).isPresent();
}
- DeviceDTO deviceDTO = (DeviceDTO) (RedisOpsUtils.get(key));
+ DeviceDTO deviceDTO = deviceOpt.get();
String deviceSn = deviceDTO.getChildDeviceSn();
if (!StringUtils.hasText(deviceSn)) {
return true;
@@ -134,22 +140,22 @@
public Boolean subDeviceOffline(String deviceSn) {
// If no information about this device exists in the cache, the drone is considered to be offline.
- String key = RedisConst.DEVICE_ONLINE_PREFIX + deviceSn;
- if (!RedisOpsUtils.checkExist(key) || RedisOpsUtils.getExpire(key) <= 0) {
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
+ if (deviceOpt.isEmpty()) {
log.debug("The drone is already offline.");
return true;
}
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(key);
+ DeviceDTO device = deviceOpt.get();
// Cancel drone-related subscriptions.
this.unsubscribeTopicOffline(deviceSn);
- payloadService.deletePayloadsByDeviceSn(new ArrayList<>(List.of(deviceSn)));
+ capacityCameraService.deleteCapacityCameraByDeviceSn(deviceSn);
+ deviceRedisService.delDeviceOnline(deviceSn);
+ RedisOpsUtils.del(RedisConst.OSD_PREFIX + deviceSn);
+ deviceRedisService.delHmsKeysBySn(deviceSn);
// Publish the latest device topology information in the current workspace.
this.pushDeviceOfflineTopo(device.getWorkspaceId(), deviceSn);
- RedisOpsUtils.del(key);
- RedisOpsUtils.del(RedisConst.OSD_PREFIX + device.getDeviceSn());
- RedisOpsUtils.del(RedisConst.HMS_PREFIX + device.getDeviceSn());
log.debug("{} offline.", deviceSn);
return true;
}
@@ -157,13 +163,11 @@
@Override
public Boolean deviceOnline(StatusGatewayReceiver deviceGateway) {
String deviceSn = deviceGateway.getSubDevices().get(0).getSn();
- String key = RedisConst.DEVICE_ONLINE_PREFIX + deviceSn;
- // change log: Use redis instead of
- long time = RedisOpsUtils.getExpire(key);
- long gatewayTime = RedisOpsUtils.getExpire(RedisConst.DEVICE_ONLINE_PREFIX + deviceGateway.getSn());
- if (time > 0 && gatewayTime > 0) {
- RedisOpsUtils.expireKey(key, RedisConst.DEVICE_ALIVE_SECOND);
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
+ Optional<DeviceDTO> gatewayOpt = deviceRedisService.getDeviceOnline(deviceGateway.getSn());
+
+ if (deviceOpt.isPresent() && gatewayOpt.isPresent()) {
DeviceDTO device = DeviceDTO.builder().loginTime(LocalDateTime.now()).deviceSn(deviceSn).build();
DeviceDTO gateway = DeviceDTO.builder()
.loginTime(LocalDateTime.now())
@@ -171,7 +175,7 @@
.childDeviceSn(deviceSn).build();
this.updateDevice(gateway);
this.updateDevice(device);
- String workspaceId = ((DeviceDTO)(RedisOpsUtils.get(key))).getWorkspaceId();
+ String workspaceId = deviceOpt.get().getWorkspaceId();
if (StringUtils.hasText(workspaceId)) {
this.subscribeTopicOnline(deviceSn);
this.subscribeTopicOnline(deviceGateway.getSn());
@@ -193,14 +197,14 @@
});
DeviceEntity gateway = deviceGatewayConvertToDeviceEntity(deviceGateway);
- Optional<DeviceEntity> gatewayEntityOpt = onlineSaveDevice(gateway, deviceSn);
+ Optional<DeviceEntity> gatewayEntityOpt = onlineSaveDevice(gateway, deviceSn, null);
if (gatewayEntityOpt.isEmpty()) {
log.error("Failed to go online, please check the status data or code logic.");
return false;
}
DeviceEntity subDevice = subDeviceConvertToDeviceEntity(deviceGateway.getSubDevices().get(0));
- Optional<DeviceEntity> subDeviceEntityOpt = onlineSaveDevice(subDevice, null);
+ Optional<DeviceEntity> subDeviceEntityOpt = onlineSaveDevice(subDevice, null, gateway.getDeviceSn());
if (subDeviceEntityOpt.isEmpty()) {
log.error("Failed to go online, please check the status data or code logic.");
return false;
@@ -308,7 +312,7 @@
devicesList.stream()
.filter(gateway -> DeviceDomainEnum.DOCK.getVal() == gateway.getDomain() ||
- RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + gateway.getDeviceSn()))
+ deviceRedisService.checkDeviceOnline(gateway.getDeviceSn()))
.forEach(this::spliceDeviceTopo);
return devicesList;
@@ -317,7 +321,7 @@
@Override
public void spliceDeviceTopo(DeviceDTO gateway) {
- gateway.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + gateway.getDeviceSn()));
+ gateway.setStatus(deviceRedisService.checkDeviceOnline(gateway.getDeviceSn()));
// sub device
if (!StringUtils.hasText(gateway.getChildDeviceSn())) {
@@ -325,7 +329,7 @@
}
DeviceDTO subDevice = getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build()).get(0);
- subDevice.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + subDevice.getDeviceSn()));
+ subDevice.setStatus(deviceRedisService.checkDeviceOnline(subDevice.getDeviceSn()));
gateway.setChildren(subDevice);
// payloads
@@ -362,8 +366,7 @@
this.getDeviceTopoForPilot(sn)
.ifPresent(pilotMessage::setData);
- boolean exist = RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + sn);
- pilotMessage.getData().setOnlineStatus(exist);
+ pilotMessage.getData().setOnlineStatus(deviceRedisService.checkDeviceOnline(sn));
pilotMessage.getData().setGatewaySn(gatewaySn.equals(sn) ? "" : gatewaySn);
sendMessageService.sendBatch(sessions, pilotMessage);
@@ -383,7 +386,7 @@
.key(device.getDomain() + "-" + device.getType() + "-" + device.getSubType())
.build())
.iconUrls(device.getIconUrl())
- .onlineStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + device.getDeviceSn()))
+ .onlineStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()))
.boundStatus(device.getBoundStatus())
.model(device.getDeviceName())
.userId(device.getUserId())
@@ -427,25 +430,24 @@
String from = topic.substring((THING_MODEL_PRE + PRODUCT).length(),
topic.indexOf(OSD_SUF));
- // Real-time update of device status in memory
- RedisOpsUtils.expireKey(RedisConst.DEVICE_ONLINE_PREFIX + from, RedisConst.DEVICE_ALIVE_SECOND);
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + from);
-
- if (device == null) {
- Optional<DeviceDTO> deviceOpt = this.getDeviceBySn(from);
+ if (deviceOpt.isEmpty()) {
+ deviceOpt = this.getDeviceBySn(from);
if (deviceOpt.isEmpty()) {
+ log.error("Please restart the drone.");
return;
}
- device = deviceOpt.get();
- if (!StringUtils.hasText(device.getWorkspaceId())) {
+
+ if (!StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
this.unsubscribeTopicOffline(from);
return;
}
- RedisOpsUtils.setWithExpire(RedisConst.DEVICE_ONLINE_PREFIX + from, device,
- RedisConst.DEVICE_ALIVE_SECOND);
+ deviceRedisService.setDeviceOnline(deviceOpt.get());
this.subscribeTopicOnline(from);
}
+ DeviceDTO device = deviceOpt.get();
+ deviceRedisService.setDeviceOnline(device);
receiver = objectMapper.readValue(payload, CommonTopicReceiver.class);
@@ -550,6 +552,7 @@
.version(gateway.getVersion())
.domain(gateway.getDomain() != null ?
gateway.getDomain() : DeviceDomainEnum.GATEWAY.getVal())
+ .deviceIndex(gateway.getSubDevices().isEmpty() ? null : gateway.getSubDevices().get(0).getIndex())
.build();
}
@@ -578,7 +581,6 @@
.deviceType(device.getType())
.subType(device.getSubType())
.version(device.getVersion())
- .deviceIndex(device.getIndex())
.domain(DeviceDomainEnum.SUB_DEVICE.getVal())
.build();
}
@@ -592,12 +594,12 @@
if (entity == null) {
return null;
}
- DeviceDTO.DeviceDTOBuilder deviceDTOBuilder = DeviceDTO.builder()
+ DeviceDTO deviceDTO = DeviceDTO.builder()
.deviceSn(entity.getDeviceSn())
.childDeviceSn(entity.getChildSn())
.deviceName(entity.getDeviceName())
.deviceDesc(entity.getDeviceDesc())
- .deviceIndex(entity.getDeviceIndex())
+ .controlSource(entity.getDeviceIndex())
.workspaceId(entity.getWorkspaceId())
.type(entity.getDeviceType())
.subType(entity.getSubType())
@@ -617,31 +619,43 @@
.firmwareVersion(entity.getFirmwareVersion())
.workspaceName(entity.getWorkspaceId() != null ?
workspaceService.getWorkspaceByWorkspaceId(entity.getWorkspaceId())
- .map(WorkspaceDTO::getWorkspaceName).orElse("") : "");
+ .map(WorkspaceDTO::getWorkspaceName).orElse("") : "")
+ .firmwareStatus(DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal()).build();
+ addFirmwareStatus(deviceDTO, entity);
+ return deviceDTO;
+ }
+
+ private void addFirmwareStatus(DeviceDTO deviceDTO, DeviceEntity entity) {
if (!StringUtils.hasText(entity.getFirmwareVersion())) {
- return deviceDTOBuilder.firmwareStatus(DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal()).build();
+ return;
}
// Query whether the device is updating firmware.
- Object progress = RedisOpsUtils.get(RedisConst.FIRMWARE_UPGRADING_PREFIX + entity.getDeviceSn());
- if (Objects.nonNull(progress)) {
- return deviceDTOBuilder.firmwareStatus(DeviceFirmwareStatusEnum.UPGRADING.getVal()).firmwareProgress((int)progress).build();
+ Optional<EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>> progressOpt =
+ deviceRedisService.getFirmwareUpgradingProgress(entity.getDeviceSn());
+ if (progressOpt.isPresent()) {
+ deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.UPGRADING.getVal());
+ deviceDTO.setFirmwareProgress(progressOpt.map(EventsReceiver::getOutput)
+ .map(EventsOutputProgressReceiver::getProgress)
+ .map(OutputProgressReceiver::getPercent)
+ .orElse(0));
+ return;
}
// First query the latest firmware version of the device model and compare it with the current firmware version
// to see if it needs to be upgraded.
Optional<DeviceFirmwareNoteDTO> firmwareReleaseNoteOpt = deviceFirmwareService.getLatestFirmwareReleaseNote(entity.getDeviceName());
- if (firmwareReleaseNoteOpt.isPresent()) {
- DeviceFirmwareNoteDTO firmwareNoteDTO = firmwareReleaseNoteOpt.get();
- if (firmwareNoteDTO.getProductVersion().equals(entity.getFirmwareVersion())) {
- return deviceDTOBuilder.firmwareStatus(entity.getCompatibleStatus() ?
- DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal() :
- DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE.getVal()).build();
- }
-
- return deviceDTOBuilder.firmwareStatus(DeviceFirmwareStatusEnum.NORMAL_UPGRADE.getVal()).build();
+ if (firmwareReleaseNoteOpt.isEmpty()) {
+ deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal());
+ return;
}
- return deviceDTOBuilder.firmwareStatus(DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal()).build();
+ if (entity.getFirmwareVersion().equals(firmwareReleaseNoteOpt.get().getProductVersion())) {
+ deviceDTO.setFirmwareStatus(entity.getCompatibleStatus() ?
+ DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal() :
+ DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE.getVal());
+ return;
+ }
+ deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.NORMAL_UPGRADE.getVal());
}
@Override
@@ -661,14 +675,14 @@
return false;
}
- String key = RedisConst.DEVICE_ONLINE_PREFIX + device.getDeviceSn();
- if (!RedisOpsUtils.checkExist(key)) {
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(device.getDeviceSn());
+ if (deviceOpt.isEmpty()) {
return false;
}
- DeviceDTO redisDevice = (DeviceDTO)RedisOpsUtils.get(key);
+ DeviceDTO redisDevice = deviceOpt.get();
redisDevice.setWorkspaceId(device.getWorkspaceId());
- RedisOpsUtils.setWithExpire(key, redisDevice, RedisConst.DEVICE_ALIVE_SECOND);
+ deviceRedisService.setDeviceOnline(redisDevice);
if (DeviceDomainEnum.GATEWAY.getVal() == redisDevice.getDomain()) {
this.pushDeviceOnlineTopo(webSocketManageService.getValueWithWorkspace(device.getWorkspaceId()),
@@ -686,7 +700,11 @@
return true;
}
- @Override
+ /**
+ * Handle dock binding status requests.
+ * @param receiver
+ * @param headers
+ */
@ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_AIRPORT_BIND_STATUS, outputChannel = ChannelName.OUTBOUND)
public void bindStatus(CommonTopicReceiver receiver, MessageHeaders headers) {
List<Map<String, String>> data = ((Map<String, List<Map<String, String>>>) receiver.getData()).get(MapKeyConst.DEVICES);
@@ -715,7 +733,11 @@
}
- @Override
+ /**
+ * Handle dock binding requests.
+ * @param receiver
+ * @param headers
+ */
@ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_AIRPORT_ORGANIZATION_BIND)
public void bindDevice(CommonTopicReceiver receiver, MessageHeaders headers) {
Map<String, List<BindDeviceReceiver>> data = objectMapper.convertValue(receiver.getData(),
@@ -732,8 +754,6 @@
drone = device;
}
}
-
- assert dock != null;
Optional<DeviceEntity> dockEntityOpt = this.bindDevice2Entity(DeviceDomainEnum.DOCK.getVal(), dock);
Optional<DeviceEntity> droneEntityOpt = this.bindDevice2Entity(DeviceDomainEnum.SUB_DEVICE.getVal(), drone);
@@ -780,12 +800,11 @@
.eq(DeviceEntity::getBoundStatus, true));
List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
.peek(device -> {
- device.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + device.getDeviceSn()));
+ device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
if (StringUtils.hasText(device.getChildDeviceSn())) {
Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
childOpt.ifPresent(child -> {
- child.setStatus(
- RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + child.getDeviceSn()));
+ child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
child.setWorkspaceName(device.getWorkspaceName());
device.setChildren(child);
});
@@ -797,11 +816,16 @@
@Override
public void unbindDevice(String deviceSn) {
- String key = RedisConst.DEVICE_ONLINE_PREFIX + deviceSn;
- DeviceDTO redisDevice = (DeviceDTO) RedisOpsUtils.get(key);
- redisDevice.setWorkspaceId("");
- RedisOpsUtils.setWithExpire(key, redisDevice, RedisConst.DEVICE_ALIVE_SECOND);
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
+ if (deviceOpt.isPresent()) {
+ subDeviceOffline(deviceSn);
+ } else {
+ deviceOpt = getDeviceBySn(deviceSn);
+ }
+ if (deviceOpt.isEmpty()) {
+ return;
+ }
DeviceDTO device = DeviceDTO.builder()
.deviceSn(deviceSn)
.workspaceId("")
@@ -818,11 +842,14 @@
return Optional.empty();
}
DeviceDTO device = devicesList.get(0);
- device.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + sn));
+ device.setStatus(deviceRedisService.checkDeviceOnline(sn));
return Optional.of(device);
}
- @Override
+ /**
+ * Update the firmware version information of the device or payload.
+ * @param receiver
+ */
@ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_FIRMWARE_VERSION)
public void updateFirmwareVersion(FirmwareVersionReceiver receiver) {
// If the reported version is empty, it will not be processed to prevent misleading page.
@@ -851,43 +878,59 @@
return ResponseResult.error();
}
- DeviceOtaCreateParam deviceOtaFirmware = deviceOtaFirmwares.get(0);
- List<DeviceDTO> devices = getDevicesByParams(DeviceQueryParam.builder().childSn(deviceOtaFirmware.getSn()).build());
- String gatewaySn = devices.isEmpty() ? deviceOtaFirmware.getSn() : devices.get(0).getDeviceSn();
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceOtaFirmwares.get(0).getSn());
+ if (deviceOpt.isEmpty()) {
+ throw new RuntimeException("Device is offline.");
+ }
+ DeviceDTO device = deviceOpt.get();
+ String gatewaySn = DeviceDomainEnum.DOCK.getVal() == device.getDomain() ? device.getDeviceSn() : device.getParentSn();
- String topic = THING_MODEL_PRE + PRODUCT + gatewaySn + SERVICES_SUF;
+ checkOtaConditions(gatewaySn);
- // The bids in the progress messages reported subsequently are the same.
String bid = UUID.randomUUID().toString();
- ServiceReply serviceReply = messageSender.publishWithReply(
- topic, CommonTopicResponse.<Map<String, List<DeviceOtaCreateParam>>>builder()
- .tid(UUID.randomUUID().toString())
- .bid(bid)
- .timestamp(System.currentTimeMillis())
- .method(FirmwareMethodEnum.OTA_CREATE.getMethod())
- .data(Map.of(MapKeyConst.DEVICES, deviceOtaFirmwares))
- .build());
+ ServiceReply serviceReply = messageSender.publishServicesTopic(
+ gatewaySn, FirmwareMethodEnum.OTA_CREATE.getMethod(), Map.of(MapKeyConst.DEVICES, deviceOtaFirmwares), bid);
if (serviceReply.getResult() != ResponseResult.CODE_SUCCESS) {
return ResponseResult.error(serviceReply.getResult(), "Firmware Error Code: " + serviceReply.getResult());
}
// Record the device state that needs to be updated.
- deviceOtaFirmwares.forEach(deviceOta -> RedisOpsUtils.setWithExpire(
- RedisConst.FIRMWARE_UPGRADING_PREFIX + deviceOta.getSn(),
- bid,
- RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND));
+ deviceOtaFirmwares.forEach(deviceOta -> deviceRedisService.setFirmwareUpgrading(deviceOta.getSn(),
+ EventsReceiver.<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>builder()
+ .bid(bid).sn(deviceOta.getSn()).build()));
return ResponseResult.success();
+ }
+
+ /**
+ * Determine whether the firmware can be upgraded.
+ * @param dockSn
+ */
+ private void checkOtaConditions(String dockSn) {
+ Optional<OsdDockReceiver> deviceOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class);
+ if (deviceOpt.isEmpty()) {
+ throw new RuntimeException("Dock is offline.");
+ }
+ boolean emergencyStopState = deviceOpt.get().getEmergencyStopState();
+ if (emergencyStopState) {
+ throw new RuntimeException("The emergency stop button of the dock is pressed and can't be upgraded.");
+ }
+
+ DockModeCodeEnum dockMode = this.getDockMode(dockSn);
+ if (DockModeCodeEnum.IDLE != dockMode) {
+ throw new RuntimeException("The current status of the dock can't be upgraded.");
+ }
}
@Override
public void devicePropertySet(String workspaceId, String dockSn, DeviceSetPropertyEnum propertyEnum, JsonNode param) {
- boolean dockOnline = this.checkDeviceOnline(dockSn);
- if (!dockOnline) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (dockOpt.isEmpty()) {
throw new RuntimeException("Dock is offline.");
}
- DeviceDTO deviceDTO = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + dockSn);
- boolean deviceOnline = this.checkDeviceOnline(deviceDTO.getChildDeviceSn());
- if (!deviceOnline) {
+ String childSn = dockOpt.get().getChildDeviceSn();
+ boolean deviceOnline = deviceRedisService.checkDeviceOnline(childSn);
+ Optional<OsdSubDeviceReceiver> osdOpt = deviceRedisService.getDeviceOsd(childSn, OsdSubDeviceReceiver.class);
+ if (!deviceOnline || osdOpt.isEmpty()) {
throw new RuntimeException("Device is offline.");
}
@@ -899,7 +942,6 @@
}
String topic = THING_MODEL_PRE + PRODUCT + dockSn + PROPERTY_SUF + SET_SUF;
- OsdSubDeviceReceiver osd = (OsdSubDeviceReceiver) RedisOpsUtils.get(RedisConst.OSD_PREFIX + deviceDTO.getChildDeviceSn());
if (!param.isObject()) {
this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), param));
return;
@@ -907,7 +949,7 @@
// If there are multiple parameters, set them separately.
for (Iterator<Map.Entry<String, JsonNode>> filed = param.fields(); filed.hasNext(); ) {
Map.Entry<String, JsonNode> node = filed.next();
- boolean isPublish = basicDeviceProperty.canPublish(node.getKey(), osd);
+ boolean isPublish = basicDeviceProperty.canPublish(node.getKey(), osdOpt.get());
if (!isPublish) {
continue;
}
@@ -929,8 +971,7 @@
.tid(UUID.randomUUID().toString())
.timestamp(System.currentTimeMillis())
.data(value)
- .build(),
- 2);
+ .build());
while (true) {
reply = (Map<String, Object>) reply.get(value.getKey());
@@ -947,9 +988,32 @@
}
- public Boolean checkDeviceOnline(String sn) {
- String key = RedisConst.DEVICE_ONLINE_PREFIX + sn;
- return RedisOpsUtils.checkExist(key) && RedisOpsUtils.getExpire(key) > 0;
+ @Override
+ public DockModeCodeEnum getDockMode(String dockSn) {
+ return deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class)
+ .map(OsdDockReceiver::getModeCode).orElse(DockModeCodeEnum.DISCONNECTED);
+ }
+
+ @Override
+ public DeviceModeCodeEnum getDeviceMode(String deviceSn) {
+ return deviceRedisService.getDeviceOsd(deviceSn, OsdSubDeviceReceiver.class)
+ .map(OsdSubDeviceReceiver::getModeCode).orElse(DeviceModeCodeEnum.DISCONNECTED);
+ }
+
+ @Override
+ public Boolean checkDockDrcMode(String dockSn) {
+ return deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class)
+ .map(OsdDockReceiver::getDrcState)
+ .orElse(DockDrcStateEnum.DISCONNECTED) != DockDrcStateEnum.DISCONNECTED;
+ }
+
+ @Override
+ public Boolean checkAuthorityFlight(String gatewaySn) {
+ return deviceRedisService.getDeviceOnline(gatewaySn).flatMap(gateway ->
+ Optional.of((DeviceDomainEnum.DOCK.getVal() == gateway.getDomain()
+ || DeviceDomainEnum.GATEWAY.getVal() == gateway.getDomain())
+ && ControlSourceEnum.A.getControlSource().equals(gateway.getControlSource())))
+ .orElse(true);
}
/**
@@ -1038,7 +1102,7 @@
.build();
}
- private Optional<DeviceEntity> onlineSaveDevice(DeviceEntity device, String childSn) {
+ private Optional<DeviceEntity> onlineSaveDevice(DeviceEntity device, String childSn, String parentSn) {
Optional<DeviceDTO> deviceOpt = this.getDeviceBySn(device.getDeviceSn());
if (deviceOpt.isEmpty()) {
@@ -1060,19 +1124,46 @@
if (saveDeviceOpt.isEmpty()) {
return saveDeviceOpt;
}
- device.setWorkspaceId(saveDeviceOpt.get().getWorkspaceId());
- RedisOpsUtils.setWithExpire(RedisConst.DEVICE_ONLINE_PREFIX + device.getDeviceSn(),
- DeviceDTO.builder()
- .deviceSn(device.getDeviceSn())
- .workspaceId(device.getWorkspaceId())
- .childDeviceSn(childSn)
- .domain(device.getDomain())
- .type(device.getDeviceType())
- .subType(device.getSubType())
- .build(),
- RedisConst.DEVICE_ALIVE_SECOND);
+ DeviceDTO redisDevice = this.deviceEntityConvertToDTO(saveDeviceOpt.get());
+ redisDevice.setParentSn(parentSn);
+
+ deviceRedisService.setDeviceOnline(redisDevice);
return saveDeviceOpt;
}
+
+ /**
+ * Handles messages in the state topic about basic drone data.
+ *
+ * Note: Only the data of the drone payload is handled here. You can handle other data from the drone
+ * according to your business needs.
+ * @param deviceBasic basic drone data
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_BASIC, outputChannel = ChannelName.INBOUND_STATE_PAYLOAD)
+ public List<DevicePayloadReceiver> stateBasic(DeviceBasicReceiver deviceBasic) {
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceBasic.getDeviceSn());
+ if (deviceOpt.isEmpty()) {
+ return deviceBasic.getPayloads();
+ }
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(deviceOpt.get().getParentSn());
+ if (dockOpt.isEmpty()) {
+ return deviceBasic.getPayloads();
+ }
+ DeviceDTO dock = dockOpt.get();
+ if (!deviceBasic.getControlSource().equals(dock.getControlSource())) {
+ dock.setControlSource(deviceBasic.getControlSource());
+ deviceRedisService.setDeviceOnline(dock);
+
+ sendMessageService.sendBatch(dock.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.CONTROL_SOURCE_CHANGE.getCode(),
+ DeviceAuthorityDTO.builder()
+ .controlSource(dock.getControlSource())
+ .sn(dock.getDeviceSn())
+ .type(DroneAuthorityEnum.FLIGHT)
+ .build());
+
+ }
+ return deviceBasic.getPayloads();
+ }
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DockOSDServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DockOSDServiceImpl.java
index 36cd9b3..afb9fc0 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/DockOSDServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/DockOSDServiceImpl.java
@@ -1,6 +1,8 @@
package com.dji.sample.manage.service.impl;
import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
+import com.dji.sample.component.redis.RedisConst;
+import com.dji.sample.component.redis.RedisOpsUtils;
import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
import com.dji.sample.component.websocket.model.BizCodeEnum;
import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
@@ -11,6 +13,7 @@
import org.springframework.stereotype.Service;
import java.util.Collection;
+import java.util.Objects;
/**
* @author sean
@@ -40,6 +43,20 @@
OsdDockReceiver data = mapper.convertValue(receiver.getData(), OsdDockReceiver.class);
wsMessage.getData().setHost(data);
sendMessageService.sendBatch(webSessions, wsMessage);
+ String key = RedisConst.OSD_PREFIX + device.getDeviceSn();
+ OsdDockReceiver redisData = (OsdDockReceiver) RedisOpsUtils.get(key);
+ if (Objects.nonNull(data.getModeCode())) {
+ if (Objects.nonNull(redisData)) {
+ data.setDrcState(redisData.getDrcState());
+ }
+ RedisOpsUtils.setWithExpire(key, data, RedisConst.DEVICE_ALIVE_SECOND);
+ return;
+ }
+
+ if (Objects.nonNull(data.getDrcState()) && Objects.nonNull(redisData)) {
+ redisData.setDrcState(data.getDrcState());
+ RedisOpsUtils.setWithExpire(key, redisData, RedisConst.DEVICE_ALIVE_SECOND);
+ }
}
}
}
diff --git a/src/main/java/com/dji/sample/manage/service/impl/LiveStreamServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/LiveStreamServiceImpl.java
index 8b441ba..5d2c8cd 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/LiveStreamServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/LiveStreamServiceImpl.java
@@ -15,10 +15,7 @@
import com.dji.sample.manage.model.param.DeviceQueryParam;
import com.dji.sample.manage.model.receiver.CapacityDeviceReceiver;
import com.dji.sample.manage.model.receiver.LiveCapacityReceiver;
-import com.dji.sample.manage.service.ICapacityCameraService;
-import com.dji.sample.manage.service.IDeviceService;
-import com.dji.sample.manage.service.ILiveStreamService;
-import com.dji.sample.manage.service.IWorkspaceService;
+import com.dji.sample.manage.service.*;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
@@ -52,6 +49,9 @@
@Autowired
private IMessageSenderService messageSender;
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
+
@Override
public List<CapacityDeviceDTO> getLiveCapacity(String workspaceId) {
@@ -64,7 +64,7 @@
// Query the live capability of each drone.
return devicesList.stream()
- .filter(device -> RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + device.getDeviceSn()))
+ .filter(device -> deviceRedisService.checkDeviceOnline(device.getDeviceSn()))
.map(device -> CapacityDeviceDTO.builder()
.name(Objects.requireNonNullElse(device.getNickname(), device.getDeviceName()))
.sn(device.getDeviceSn())
@@ -125,8 +125,8 @@
.toString());
break;
case RTSP:
- Object url = Objects.requireNonNullElse(receiveReply.getOutput(), receiveReply.getInfo());
- this.resolveUrlUser(String.valueOf(url), live);
+ String url = receiveReply.getOutput().toString();
+ this.resolveUrlUser(url, live);
break;
case UNKNOWN:
return ResponseResult.error(LiveErrorEnum.URL_TYPE_NOT_SUPPORTED);
@@ -207,7 +207,7 @@
response.setMethod(LiveStreamMethodEnum.LIVE_LENS_CHANGE.getMethod());
response.setData(liveParam);
- return messageSender.publishWithReply(respTopic, response);
+ return messageSender.publishWithReply(ServiceReply.class, respTopic, response);
}
/**
@@ -304,7 +304,7 @@
response.setData(liveParam);
response.setMethod(LiveStreamMethodEnum.LIVE_START_PUSH.getMethod());
- return messageSender.publishWithReply(topic, response);
+ return messageSender.publishWithReply(ServiceReply.class, topic, response);
}
/**
@@ -323,7 +323,7 @@
response.setMethod(LiveStreamMethodEnum.LIVE_SET_QUALITY.getMethod());
response.setData(data);
- return messageSender.publishWithReply(respTopic, response);
+ return messageSender.publishWithReply(ServiceReply.class, respTopic, response);
}
/**
@@ -340,7 +340,7 @@
response.setData(data);
response.setMethod(LiveStreamMethodEnum.LIVE_STOP_PUSH.getMethod());
- return messageSender.publishWithReply(topic, response);
+ return messageSender.publishWithReply(ServiceReply.class, topic, response);
}
}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/map/controller/WorkspaceElementController.java b/src/main/java/com/dji/sample/map/controller/WorkspaceElementController.java
index 8afaf16..1970479 100644
--- a/src/main/java/com/dji/sample/map/controller/WorkspaceElementController.java
+++ b/src/main/java/com/dji/sample/map/controller/WorkspaceElementController.java
@@ -3,9 +3,7 @@
import com.dji.sample.common.model.CustomClaim;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.websocket.model.BizCodeEnum;
-import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
import com.dji.sample.component.websocket.service.ISendMessageService;
-import com.dji.sample.component.websocket.service.IWebSocketManageService;
import com.dji.sample.map.model.dto.*;
import com.dji.sample.map.service.IWorkspaceElementService;
import org.springframework.beans.factory.annotation.Autowired;
@@ -33,9 +31,6 @@
@Autowired
private ISendMessageService sendMessageService;
-
- @Autowired
- private IWebSocketManageService webSocketManageService;
/**
* In the first connection, pilot will send out this http request to obtain the group element list.
@@ -79,14 +74,8 @@
// Notify all WebSocket connections in this workspace to be updated when an element is created.
elementService.getElementByElementId(elementCreate.getId())
- .ifPresent(groupElement ->
- sendMessageService.sendBatch(
- webSocketManageService.getValueWithWorkspace(workspaceId),
- CustomWebSocketMessage.<GroupElementDTO>builder()
- .timestamp(System.currentTimeMillis())
- .bizCode(BizCodeEnum.MAP_ELEMENT_CREATE.getCode())
- .data(groupElement)
- .build()));
+ .ifPresent(groupElement -> sendMessageService.sendBatch(
+ workspaceId, BizCodeEnum.MAP_ELEMENT_CREATE.getCode(), groupElement));
return ResponseResult.success(new ConcurrentHashMap<>(Map.of("id", elementCreate.getId())));
}
@@ -115,14 +104,8 @@
// Notify all WebSocket connections in this workspace to update when there is an element update.
elementService.getElementByElementId(elementId)
- .ifPresent(groupElement ->
- sendMessageService.sendBatch(
- webSocketManageService.getValueWithWorkspace(workspaceId),
- CustomWebSocketMessage.<GroupElementDTO>builder()
- .timestamp(System.currentTimeMillis())
- .bizCode(BizCodeEnum.MAP_ELEMENT_UPDATE.getCode())
- .data(groupElement)
- .build()));
+ .ifPresent(groupElement -> sendMessageService.sendBatch(
+ workspaceId, BizCodeEnum.MAP_ELEMENT_UPDATE.getCode(), groupElement));
return response;
}
@@ -144,16 +127,11 @@
// Notify all WebSocket connections in this workspace to update when an element is deleted.
if (ResponseResult.CODE_SUCCESS == response.getCode()) {
elementOpt.ifPresent(element ->
- sendMessageService.sendBatch(
- webSocketManageService.getValueWithWorkspace(workspaceId),
- CustomWebSocketMessage.<WebSocketElementDelDTO>builder()
- .timestamp(System.currentTimeMillis())
- .bizCode(BizCodeEnum.MAP_ELEMENT_DELETE.getCode())
- .data(WebSocketElementDelDTO.builder()
+ sendMessageService.sendBatch(workspaceId, BizCodeEnum.MAP_ELEMENT_DELETE.getCode(),
+ WebSocketElementDelDTO.builder()
.elementId(elementId)
.groupId(element.getGroupId())
- .build())
- .build()));
+ .build()));
}
return response;
}
@@ -173,14 +151,9 @@
// Notify all WebSocket connections in this workspace to update when elements are deleted.
if (ResponseResult.CODE_SUCCESS == response.getCode()) {
- sendMessageService.sendBatch(
- webSocketManageService.getValueWithWorkspace(workspaceId),
- CustomWebSocketMessage.builder()
- .timestamp(System.currentTimeMillis())
- .bizCode(BizCodeEnum.MAP_GROUP_REFRESH.getCode())
+ sendMessageService.sendBatch(workspaceId, BizCodeEnum.MAP_GROUP_REFRESH.getCode(),
// Group ids that need to re-request data
- .data(new ConcurrentHashMap<String, String[]>(Map.of("ids", new String[]{groupId})))
- .build());
+ new ConcurrentHashMap<String, String[]>(Map.of("ids", new String[]{groupId})));
}
return response;
}
diff --git a/src/main/java/com/dji/sample/media/service/IMediaService.java b/src/main/java/com/dji/sample/media/service/IMediaService.java
index d1b5021..15a80cc 100644
--- a/src/main/java/com/dji/sample/media/service/IMediaService.java
+++ b/src/main/java/com/dji/sample/media/service/IMediaService.java
@@ -1,8 +1,6 @@
package com.dji.sample.media.service;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
import com.dji.sample.media.model.FileUploadDTO;
-import org.springframework.messaging.MessageHeaders;
import java.util.List;
@@ -44,17 +42,4 @@
*/
List<String> getExistTinyFingerprints(String workspaceId, List<String> tinyFingerprints);
- /**
- * Handle media files messages reported by dock.
- * @param receiver
- * @return
- */
- void handleFileUploadCallBack(CommonTopicReceiver receiver);
-
- /**
- * Handles the highest priority message about media uploads.
- * @param receiver
- * @param headers
- */
- void handleHighestPriorityUploadFlightTaskMedia(CommonTopicReceiver receiver, MessageHeaders headers);
}
diff --git a/src/main/java/com/dji/sample/media/service/impl/MediaServiceImpl.java b/src/main/java/com/dji/sample/media/service/impl/MediaServiceImpl.java
index 8265d48..5a75fa0 100644
--- a/src/main/java/com/dji/sample/media/service/impl/MediaServiceImpl.java
+++ b/src/main/java/com/dji/sample/media/service/impl/MediaServiceImpl.java
@@ -1,17 +1,17 @@
package com.dji.sample.media.service.impl;
-import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.ResponseResult;
-import com.dji.sample.component.mqtt.model.*;
+import com.dji.sample.component.mqtt.model.ChannelName;
+import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
+import com.dji.sample.component.mqtt.model.MapKeyConst;
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.BizCodeEnum;
-import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
import com.dji.sample.component.websocket.service.ISendMessageService;
-import com.dji.sample.component.websocket.service.IWebSocketManageService;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.UserTypeEnum;
+import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.IDeviceService;
import com.dji.sample.media.model.FileUploadCallback;
import com.dji.sample.media.model.FileUploadDTO;
@@ -22,14 +22,15 @@
import com.dji.sample.wayline.model.dto.WaylineJobDTO;
import com.dji.sample.wayline.service.IWaylineJobService;
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 java.util.List;
import java.util.Map;
+import java.util.Objects;
import java.util.Optional;
import java.util.stream.Collectors;
@@ -39,6 +40,7 @@
* @date 2021/12/9
*/
@Service
+@Slf4j
public class MediaServiceImpl implements IMediaService {
@Autowired
@@ -60,7 +62,7 @@
private ISendMessageService sendMessageService;
@Autowired
- private IWebSocketManageService webSocketManageService;
+ private IDeviceRedisService deviceRedisService;
@Override
public Boolean fastUpload(String workspaceId, String fingerprint) {
@@ -90,47 +92,44 @@
}
- @Override
- @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FILE_UPLOAD_CALLBACK, outputChannel = ChannelName.OUTBOUND)
- public void handleFileUploadCallBack(CommonTopicReceiver receiver) {
+ /**
+ * Handle media files messages reported by dock.
+ * @param receiver
+ * @return
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FILE_UPLOAD_CALLBACK, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleFileUploadCallBack(CommonTopicReceiver receiver) {
FileUploadCallback callback = objectMapper.convertValue(receiver.getData(), FileUploadCallback.class);
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + receiver.getGateway()
- + TopicConst.EVENTS_SUF + TopicConst._REPLY_SUF;
- CommonTopicResponse<RequestsReply> data = CommonTopicResponse.<RequestsReply>builder()
- .timestamp(System.currentTimeMillis())
- .method(EventsMethodEnum.FILE_UPLOAD_CALLBACK.getMethod())
- .data(RequestsReply.success())
- .tid(receiver.getTid())
- .bid(receiver.getBid())
- .build();
-
if (callback.getResult() != ResponseResult.CODE_SUCCESS) {
- messageSenderService.publish(topic, data);
- return;
+ log.error("Media file upload failed!");
+ return null;
}
String jobId = callback.getFile().getExt().getFlightId();
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
MediaFileCountDTO mediaFileCount = (MediaFileCountDTO) RedisOpsUtils.hashGet(RedisConst.MEDIA_FILE_PREFIX + receiver.getGateway(), jobId);
// duplicate data
- if (receiver.getBid().equals(mediaFileCount.getBid()) && receiver.getTid().equals(mediaFileCount.getTid())) {
- messageSenderService.publish(topic, data);
- return;
+ if (deviceOpt.isEmpty()
+ || (Objects.nonNull(mediaFileCount) && receiver.getBid().equals(mediaFileCount.getBid())
+ && receiver.getTid().equals(mediaFileCount.getTid()))) {
+ return receiver;
}
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + receiver.getGateway());
+
+ DeviceDTO device = deviceOpt.get();
Optional<WaylineJobDTO> jobOpt = waylineJobService.getJobByJobId(device.getWorkspaceId(), jobId);
if (jobOpt.isPresent()) {
boolean isSave = parseMediaFile(callback, jobOpt.get());
if (!isSave) {
- data.setData(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
+ log.error("Failed to save the file to the database, please check the data manually.");
+ return null;
}
}
- messageSenderService.publish(topic, data);
-
- notifyUploadedCount(mediaFileCount, receiver, jobId);
+ notifyUploadedCount(mediaFileCount, receiver, jobId, device);
+ return receiver;
}
/**
@@ -139,7 +138,11 @@
* @param receiver
* @param jobId
*/
- private void notifyUploadedCount(MediaFileCountDTO mediaFileCount, CommonTopicReceiver receiver, String jobId) {
+ private void notifyUploadedCount(MediaFileCountDTO mediaFileCount, CommonTopicReceiver receiver, String jobId, DeviceDTO dock) {
+ // Do not notify when files that do not belong to the route are uploaded.
+ if (Objects.isNull(mediaFileCount)) {
+ return;
+ }
mediaFileCount.setBid(receiver.getBid());
mediaFileCount.setTid(receiver.getTid());
mediaFileCount.setUploadedCount(mediaFileCount.getUploadedCount() + 1);
@@ -163,13 +166,8 @@
RedisOpsUtils.hashSet(key, jobId, mediaFileCount);
}
- DeviceDTO dock = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + receiver.getGateway());
- sendMessageService.sendBatch(webSocketManageService.getValueWithWorkspaceAndUserType(dock.getWorkspaceId(), UserTypeEnum.WEB.getVal()),
- CustomWebSocketMessage.builder()
- .bizCode(BizCodeEnum.FILE_UPLOAD_CALLBACK.getCode())
- .timestamp(System.currentTimeMillis())
- .data(mediaFileCount)
- .build());
+ sendMessageService.sendBatch(dock.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.FILE_UPLOAD_CALLBACK.getCode(), mediaFileCount);
}
private Boolean parseMediaFile(FileUploadCallback callback, WaylineJobDTO job) {
@@ -184,22 +182,18 @@
return fileService.saveFile(job.getWorkspaceId(), callback.getFile()) > 0;
}
- @Override
- @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA, outputChannel = ChannelName.OUTBOUND)
- public void handleHighestPriorityUploadFlightTaskMedia(CommonTopicReceiver receiver, MessageHeaders headers) {
+ /**
+ * Handles the highest priority message about media uploads.
+ * @param receiver
+ * @param headers
+ * @return
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleHighestPriorityUploadFlightTaskMedia(CommonTopicReceiver receiver, MessageHeaders headers) {
Map map = objectMapper.convertValue(receiver.getData(), Map.class);
if (map.isEmpty() || !map.containsKey(MapKeyConst.FLIGHT_ID)) {
- return;
+ return null;
}
-
- messageSenderService.publish(headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF,
- CommonTopicResponse.builder()
- .data(RequestsReply.success())
- .method(receiver.getMethod())
- .timestamp(System.currentTimeMillis())
- .bid(receiver.getBid())
- .tid(receiver.getTid())
- .build());
String dockSn = receiver.getGateway();
String jobId = map.get(MapKeyConst.FLIGHT_ID).toString();
@@ -209,7 +203,7 @@
countDTO = (MediaFileCountDTO) RedisOpsUtils.get(key);
if (jobId.equals(countDTO.getJobId())) {
RedisOpsUtils.setWithExpire(key, countDTO, RedisConst.DEVICE_ALIVE_SECOND * 5);
- return;
+ return null;
}
countDTO.setPreJobId(countDTO.getJobId());
@@ -218,13 +212,13 @@
RedisOpsUtils.setWithExpire(key, countDTO, RedisConst.DEVICE_ALIVE_SECOND * 5);
- DeviceDTO dock = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + dockSn);
- sendMessageService.sendBatch(webSocketManageService.getValueWithWorkspaceAndUserType(dock.getWorkspaceId(), UserTypeEnum.WEB.getVal()),
- CustomWebSocketMessage.builder()
- .timestamp(System.currentTimeMillis())
- .bizCode(BizCodeEnum.HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA.getCode())
- .data(countDTO)
- .build());
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
+ if (deviceOpt.isEmpty()) {
+ return null;
+ }
+ sendMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA.getCode(), countDTO);
+ return receiver;
}
}
diff --git a/src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java b/src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java
index f24bdb2..481b6a2 100644
--- a/src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java
+++ b/src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java
@@ -5,6 +5,7 @@
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.wayline.model.dto.WaylineJobDTO;
import com.dji.sample.wayline.model.param.CreateJobParam;
+import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.service.IWaylineJobService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -86,4 +87,12 @@
waylineJobService.uploadMediaHighestPriority(workspaceId, jobId);
return ResponseResult.success();
}
+
+ @PutMapping("/{workspace_id}/jobs/{job_id}")
+ public ResponseResult updateJobStatus(@PathVariable(name = "workspace_id") String workspaceId,
+ @PathVariable(name = "job_id") String jobId,
+ @Valid @RequestBody UpdateJobParam param) {
+ waylineJobService.updateJobStatus(workspaceId, jobId, param);
+ return ResponseResult.success();
+ }
}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/ConditionalWaylineJobKey.java b/src/main/java/com/dji/sample/wayline/model/dto/ConditionalWaylineJobKey.java
new file mode 100644
index 0000000..2dd1ca2
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/dto/ConditionalWaylineJobKey.java
@@ -0,0 +1,39 @@
+package com.dji.sample.wayline.model.dto;
+
+import com.dji.sample.component.redis.RedisConst;
+import lombok.Data;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/28
+ */
+@Data
+public class ConditionalWaylineJobKey {
+
+ private String workspaceId;
+
+ private String dockSn;
+
+ private String jobId;
+
+ public ConditionalWaylineJobKey(String workspaceId, String dockSn, String jobId) {
+ this.workspaceId = workspaceId;
+ this.dockSn = dockSn;
+ this.jobId = jobId;
+ }
+
+ public ConditionalWaylineJobKey(String key) {
+ if (Objects.isNull(key)) {
+ return;
+ }
+ String[] keyArr = key.split(RedisConst.DELIMITER);
+ new ConditionalWaylineJobKey(keyArr[0], keyArr[1], keyArr[2]);
+ }
+
+ public String getKey() {
+ return String.join(RedisConst.DELIMITER, workspaceId, dockSn, jobId);
+ }
+}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/KmzFileProperties.java b/src/main/java/com/dji/sample/wayline/model/dto/KmzFileProperties.java
index 64e29a2..f729961 100644
--- a/src/main/java/com/dji/sample/wayline/model/dto/KmzFileProperties.java
+++ b/src/main/java/com/dji/sample/wayline/model/dto/KmzFileProperties.java
@@ -35,5 +35,5 @@
public static final String TAG_PAYLOAD_SUB_ENUM_VALUE = "payloadSubEnumValue";
- public static final String TAG_TEMPLATE_ID = "templateId";
+ public static final String TAG_TEMPLATE_TYPE = "templateType";
}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java b/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java
index b797819..718923b 100644
--- a/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java
+++ b/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java
@@ -62,5 +62,7 @@
private Boolean uploading;
+ private WaylineTaskConditionDTO conditions;
+
private String parentId;
}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskConditionDTO.java b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskConditionDTO.java
new file mode 100644
index 0000000..6a1dc18
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskConditionDTO.java
@@ -0,0 +1,22 @@
+package com.dji.sample.wayline.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/16
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class WaylineTaskConditionDTO {
+
+ private WaylineTaskReadyConditionDTO readyConditions;
+
+ private WaylineTaskExecutableConditionDTO executableConditions;
+}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java
index b920530..3297a08 100644
--- a/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java
+++ b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java
@@ -30,4 +30,7 @@
private Integer outOfControlAction;
+ private WaylineTaskReadyConditionDTO readyConditions;
+
+ private WaylineTaskExecutableConditionDTO executableConditions;
}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskExecutableConditionDTO.java b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskExecutableConditionDTO.java
new file mode 100644
index 0000000..24cfc4c
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskExecutableConditionDTO.java
@@ -0,0 +1,23 @@
+package com.dji.sample.wayline.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/16
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class WaylineTaskExecutableConditionDTO {
+
+ /**
+ * unit: MB
+ */
+ private Integer storageCapacity;
+}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskReadyConditionDTO.java b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskReadyConditionDTO.java
new file mode 100644
index 0000000..61fe5a7
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskReadyConditionDTO.java
@@ -0,0 +1,24 @@
+package com.dji.sample.wayline.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/16
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class WaylineTaskReadyConditionDTO {
+
+ private Integer batteryCapacity;
+
+ private Long beginTime;
+
+ private Long endTime;
+}
diff --git a/src/main/java/com/dji/sample/wayline/model/enums/WaylineErrorCodeEnum.java b/src/main/java/com/dji/sample/wayline/model/enums/WaylineErrorCodeEnum.java
new file mode 100644
index 0000000..8643380
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/enums/WaylineErrorCodeEnum.java
@@ -0,0 +1,83 @@
+package com.dji.sample.wayline.model.enums;
+
+import com.dji.sample.common.error.IErrorInfo;
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/17
+ */
+public enum WaylineErrorCodeEnum implements IErrorInfo {
+
+ SUCCESS(0, "success", false),
+
+ EMERGENCY_BUTTON(316026, "The emergency button at the dock was pressed.", true),
+
+ NOT_IDLE(319001, "Task Center is not currently idle.", true),
+
+ PERFORMING_TASK(319016, "The dock is performing other tasks.", true),
+
+ EXPORTING_LOGS(319018, "The dock is exporting logs.", true),
+
+ PULLING_LOGS(319019, "The dock is pulling logs.", true),
+
+ HEIGHT_LIMIT(321513, "The wayline altitude has exceeded the height limit of the drone.", true),
+
+ DISTANCE_LIMIT(321514, "The wayline distance has exceeded the limit of the drone.", true),
+
+ RESTRICTED_FLIGHT_AREA(321515, "The wayline passes through a restricted flight area.", true),
+
+ SDR_DISCONNECT(514120, "The sdr link between the dock and the drone is disconnected.", true),
+
+ HEAVY_RAIN(514134, "Heavy rain prevented the flight.", true),
+
+ STRONG_WIND(514135, "Strong wind prevented the flight.", true),
+
+ POWER_DISCONNECT(514136, "The dock's power supply is disconnected.", true),
+
+ LOW_TEMPERATURE(514137, "The low temperature of the environment prevented flight.", true),
+
+ DEBUGGING(514145, "The dock is being debugged.", true),
+
+ REMOTE_DEBUGGING(514146, "The dock is being debugged remotely.", true),
+
+ DOCK_UPGRADING(514147, "The dock is being upgraded.", true),
+
+ DOCK_WORKING(514148, "The dock is working and cannot perform new tasks.", true),
+
+ UNKNOWN(-1, "Unknown wayline error.", false);
+
+ private String msg;
+
+ private int code;
+
+ boolean block;
+
+ WaylineErrorCodeEnum(int code, String msg, boolean block) {
+ this.code = code;
+ this.msg = msg;
+ this.block = block;
+ }
+
+ @Override
+ public String getErrorMsg() {
+ return msg;
+ }
+
+ @Override
+ public Integer getErrorCode() {
+ return code;
+ }
+
+ public boolean isBlock() {
+ return block;
+ }
+
+ @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+ public static WaylineErrorCodeEnum find(int code) {
+ return Arrays.stream(WaylineErrorCodeEnum.values()).filter(error -> error.code == code).findAny().orElse(UNKNOWN);
+ }
+}
diff --git a/src/main/java/com/dji/sample/wayline/model/enums/WaylineMethodEnum.java b/src/main/java/com/dji/sample/wayline/model/enums/WaylineMethodEnum.java
index 4951d2c..6ad9807 100644
--- a/src/main/java/com/dji/sample/wayline/model/enums/WaylineMethodEnum.java
+++ b/src/main/java/com/dji/sample/wayline/model/enums/WaylineMethodEnum.java
@@ -14,7 +14,11 @@
FLIGHT_TASK_EXECUTE("flighttask_execute"),
- FLIGHT_TASK_CANCEL("flighttask_undo");
+ FLIGHT_TASK_CANCEL("flighttask_undo"),
+
+ FLIGHT_TASK_PAUSE("flighttask_pause"),
+
+ FLIGHT_TASK_RESUME("flighttask_recovery");
private String method;
diff --git a/src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskStatusEnum.java b/src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskStatusEnum.java
new file mode 100644
index 0000000..9bdf4f6
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskStatusEnum.java
@@ -0,0 +1,19 @@
+package com.dji.sample.wayline.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonValue;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/1
+ */
+public enum WaylineTaskStatusEnum {
+
+ PAUSE, RESUME;
+
+ @JsonValue
+ public int getVal() {
+ return ordinal();
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskTypeEnum.java b/src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskTypeEnum.java
index 89e556a..db81356 100644
--- a/src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskTypeEnum.java
+++ b/src/main/java/com/dji/sample/wayline/model/enums/WaylineTaskTypeEnum.java
@@ -1,22 +1,36 @@
package com.dji.sample.wayline.model.enums;
-import lombok.Getter;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
/**
* @author sean
* @version 1.3
* @date 2022/9/26
*/
-@Getter
public enum WaylineTaskTypeEnum {
IMMEDIATE(0),
- TIMED(1);
+ TIMED(1),
+
+ CONDITION(2);
int val;
WaylineTaskTypeEnum(int val) {
this.val = val;
}
+
+ @JsonValue
+ public int getVal() {
+ return val;
+ }
+
+ @JsonCreator
+ public static WaylineTaskTypeEnum find(Integer val) {
+ return Arrays.stream(values()).filter(taskTypeEnum -> taskTypeEnum.val == val).findAny().get();
+ }
}
diff --git a/src/main/java/com/dji/sample/wayline/model/enums/WaylineTemplateTypeEnum.java b/src/main/java/com/dji/sample/wayline/model/enums/WaylineTemplateTypeEnum.java
index 2388e32..760fc8d 100644
--- a/src/main/java/com/dji/sample/wayline/model/enums/WaylineTemplateTypeEnum.java
+++ b/src/main/java/com/dji/sample/wayline/model/enums/WaylineTemplateTypeEnum.java
@@ -1,26 +1,46 @@
package com.dji.sample.wayline.model.enums;
-import lombok.Getter;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+import java.util.Optional;
/**
* @author sean
* @version 1.3
* @date 2022/9/26
*/
-@Getter
public enum WaylineTemplateTypeEnum {
- WAYPOINT(0),
+ WAYPOINT(0, "waypoint"),
- MAPPING_2D(1),
+ MAPPING_2D(1, "mapping2d"),
- MAPPING_3D(2),
+ MAPPING_3D(2, "mapping3d"),
- MAPPING_STRIP(4);
+ MAPPING_STRIP(4, "mappingStrip");
int val;
- WaylineTemplateTypeEnum(int val) {
+ String type;
+
+ WaylineTemplateTypeEnum(int val, String type) {
this.val = val;
+ this.type = type;
+ }
+
+ @JsonValue
+ public int getVal() {
+ return val;
+ }
+
+ @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+ public static WaylineTemplateTypeEnum find(Integer val) {
+ return Arrays.stream(values()).filter(templateTypeEnum -> templateTypeEnum.val == val).findAny().get();
+ }
+
+ public static Optional<WaylineTemplateTypeEnum> find(String type) {
+ return Arrays.stream(values()).filter(templateTypeEnum -> templateTypeEnum.type.equals(type)).findAny();
}
}
diff --git a/src/main/java/com/dji/sample/wayline/model/param/CreateJobParam.java b/src/main/java/com/dji/sample/wayline/model/param/CreateJobParam.java
index f8fe651..558a9d2 100644
--- a/src/main/java/com/dji/sample/wayline/model/param/CreateJobParam.java
+++ b/src/main/java/com/dji/sample/wayline/model/param/CreateJobParam.java
@@ -1,10 +1,13 @@
package com.dji.sample.wayline.model.param;
+import com.dji.sample.wayline.model.enums.WaylineTaskTypeEnum;
+import com.dji.sample.wayline.model.enums.WaylineTemplateTypeEnum;
import lombok.Data;
import org.hibernate.validator.constraints.Range;
import javax.validation.constraints.NotBlank;
import javax.validation.constraints.NotNull;
+import java.util.List;
/**
* @author sean
@@ -23,15 +26,11 @@
@NotBlank
private String dockSn;
- @Range(max = 0)
@NotNull
- private Integer waylineType;
+ private WaylineTemplateTypeEnum waylineType;
- @Range(max = 1)
@NotNull
- private Integer taskType;
-
- private Long executeTime;
+ private WaylineTaskTypeEnum taskType;
@Range(min = 20, max = 500)
@NotNull
@@ -40,4 +39,13 @@
@NotNull
@Range(max = 2)
private Integer outOfControlAction;
+
+ @Range(min = 50, max = 90)
+ private Integer minBatteryCapacity;
+
+ private Integer minStorageCapacity;
+
+ private List<Long> taskDays;
+
+ private List<List<Long>> taskPeriods;
}
diff --git a/src/main/java/com/dji/sample/wayline/model/param/UpdateJobParam.java b/src/main/java/com/dji/sample/wayline/model/param/UpdateJobParam.java
new file mode 100644
index 0000000..dfa8e37
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/param/UpdateJobParam.java
@@ -0,0 +1,22 @@
+package com.dji.sample.wayline.model.param;
+
+import com.dji.sample.wayline.model.enums.WaylineTaskStatusEnum;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/1
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class UpdateJobParam {
+
+ private WaylineTaskStatusEnum status;
+
+}
diff --git a/src/main/java/com/dji/sample/wayline/service/IFlightTaskService.java b/src/main/java/com/dji/sample/wayline/service/IFlightTaskService.java
index 8bc6e63..1b0f4e2 100644
--- a/src/main/java/com/dji/sample/wayline/service/IFlightTaskService.java
+++ b/src/main/java/com/dji/sample/wayline/service/IFlightTaskService.java
@@ -1,8 +1,5 @@
package com.dji.sample.wayline.service;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
-import org.springframework.messaging.MessageHeaders;
-
/**
* @author sean
* @version 1.1
@@ -10,9 +7,5 @@
*/
public interface IFlightTaskService {
- /**
- * Handle the progress messages of the flight tasks reported by the dock.
- * @param receiver
- */
- void handleProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+
}
diff --git a/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java b/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java
index a18da9f..608c93f 100644
--- a/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java
+++ b/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java
@@ -7,6 +7,7 @@
import com.dji.sample.wayline.model.dto.WaylineJobDTO;
import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
import com.dji.sample.wayline.model.param.CreateJobParam;
+import com.dji.sample.wayline.model.param.UpdateJobParam;
import org.springframework.messaging.MessageHeaders;
import java.sql.SQLException;
@@ -47,6 +48,14 @@
* @return
*/
ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException;
+
+ /**
+ * Issue wayline mission to the dock.
+ * @param waylineJob
+ * @return
+ * @throws SQLException
+ */
+ ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException;
/**
* Execute the task immediately.
@@ -118,4 +127,19 @@
* @param jobId
*/
void uploadMediaHighestPriority(String workspaceId, String jobId);
+
+ /**
+ * Manually control the execution status of wayline job.
+ * @param workspaceId
+ * @param jobId
+ * @param param
+ */
+ void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param);
+
+ /**
+ * Query the wayline execution status of the dock.
+ * @param dockSn
+ * @return
+ */
+ WaylineJobStatusEnum getWaylineState(String dockSn);
}
diff --git a/src/main/java/com/dji/sample/wayline/service/IWaylineRedisService.java b/src/main/java/com/dji/sample/wayline/service/IWaylineRedisService.java
new file mode 100644
index 0000000..fa2b99b
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/service/IWaylineRedisService.java
@@ -0,0 +1,100 @@
+package com.dji.sample.wayline.service;
+
+import com.dji.sample.component.mqtt.model.EventsReceiver;
+import com.dji.sample.wayline.model.dto.ConditionalWaylineJobKey;
+import com.dji.sample.wayline.model.dto.WaylineJobDTO;
+import com.dji.sample.wayline.model.dto.WaylineTaskProgressReceiver;
+
+import java.util.Optional;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/24
+ */
+public interface IWaylineRedisService {
+
+ /**
+ * Save the status of the wayline job performed by the dock into redis.
+ * @param dockSn
+ * @param data
+ */
+ void setRunningWaylineJob(String dockSn, EventsReceiver<WaylineTaskProgressReceiver> data);
+
+ /**
+ * Query the status of wayline job performed by the dock in redis.
+ * @param dockSn
+ * @return
+ */
+ Optional<EventsReceiver<WaylineTaskProgressReceiver>> getRunningWaylineJob(String dockSn);
+
+ /**
+ * Delete the wayline job status of the dock operation in redis.
+ * @param dockSn
+ * @return
+ */
+ Boolean delRunningWaylineJob(String dockSn);
+
+ /**
+ * Save the wayline job suspended by the dock to redis.
+ * @param dockSn
+ * @param jobId
+ */
+ void setPausedWaylineJob(String dockSn, String jobId);
+
+ /**
+ * Query the wayline job id suspended by the dock in redis.
+ * @param dockSn
+ * @return
+ */
+ String getPausedWaylineJobId(String dockSn);
+
+ /**
+ * Delete the wayline job suspended by the dock in redis.
+ * @param dockSn
+ * @return
+ */
+ Boolean delPausedWaylineJob(String dockSn);
+
+ /**
+ * Save the wayline job blocked by the dock to redis.
+ * @param dockSn
+ * @param jobId
+ */
+ void setBlockedWaylineJob(String dockSn, String jobId);
+
+ /**
+ * Query the wayline job id blocked by the dock in redis.
+ * @param dockSn
+ * @return
+ */
+ String getBlockedWaylineJobId(String dockSn);
+
+ /**
+ * Save the conditional wayline job by the dock to redis.
+ * @param waylineJob
+ */
+ void setConditionalWaylineJob(WaylineJobDTO waylineJob);
+
+ /**
+ * Query the conditional wayline job id by the dock in redis.
+ * @param jobId
+ * @return
+ */
+ Optional<WaylineJobDTO> getConditionalWaylineJob(String jobId);
+
+ /**
+ * Delete the conditional wayline job by the dock in redis.
+ * @param jobId
+ * @return
+ */
+ Boolean delConditionalWaylineJob(String jobId);
+
+ Boolean addPrepareConditionalWaylineJob(WaylineJobDTO waylineJob);
+
+ Optional<ConditionalWaylineJobKey> getNearestConditionalWaylineJob();
+
+ Double getConditionalWaylineJobTime(ConditionalWaylineJobKey jobKey);
+
+ Boolean removePrepareConditionalWaylineJob(ConditionalWaylineJobKey jobKey);
+}
diff --git a/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java
index 224602d..9418b94 100644
--- a/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java
+++ b/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java
@@ -1,22 +1,24 @@
package com.dji.sample.wayline.service.impl;
+import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.ResponseResult;
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.BizCodeEnum;
-import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
import com.dji.sample.component.websocket.service.ISendMessageService;
-import com.dji.sample.component.websocket.service.IWebSocketManageService;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.UserTypeEnum;
+import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.media.model.MediaFileCountDTO;
+import com.dji.sample.wayline.model.dto.ConditionalWaylineJobKey;
import com.dji.sample.wayline.model.dto.WaylineJobDTO;
import com.dji.sample.wayline.model.dto.WaylineTaskProgressReceiver;
import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
import com.dji.sample.wayline.service.IFlightTaskService;
import com.dji.sample.wayline.service.IWaylineJobService;
+import com.dji.sample.wayline.service.IWaylineRedisService;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
@@ -27,8 +29,10 @@
import org.springframework.messaging.MessageHeaders;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
import java.time.LocalDateTime;
+import java.time.ZoneId;
import java.util.*;
import java.util.concurrent.TimeUnit;
@@ -51,14 +55,21 @@
private ISendMessageService websocketMessageService;
@Autowired
- private IWebSocketManageService webSocketManageService;
-
- @Autowired
private IWaylineJobService waylineJobService;
- @Override
- @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLIGHT_TASK_PROGRESS, outputChannel = ChannelName.OUTBOUND)
- public void handleProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
+
+ @Autowired
+ private IWaylineRedisService waylineRedisService;
+
+ /**
+ * Handle the progress messages of the flight tasks reported by the dock.
+ * @param receiver
+ * @param headers
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLIGHT_TASK_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
String receivedTopic = String.valueOf(headers.get(MqttHeaders.RECEIVED_TOPIC));
String dockSn = receivedTopic.substring((TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT).length(),
receivedTopic.indexOf(TopicConst.EVENTS_SUF));
@@ -76,8 +87,7 @@
}
EventsResultStatusEnum statusEnum = EventsResultStatusEnum.find(output.getStatus());
- String key = RedisConst.WAYLINE_JOB_RUNNING_PREFIX + dockSn;
- RedisOpsUtils.setWithExpire(key, eventsReceiver, RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
+ waylineRedisService.setRunningWaylineJob(dockSn, eventsReceiver);
if (statusEnum.getEnd()) {
WaylineJobDTO job = WaylineJobDTO.builder()
@@ -99,30 +109,66 @@
}
waylineJobService.updateJob(job);
- RedisOpsUtils.del(key);
- RedisOpsUtils.del(RedisConst.WAYLINE_JOB_PAUSED_PREFIX + receiver.getBid());
+ waylineRedisService.delRunningWaylineJob(dockSn);
+ waylineRedisService.delPausedWaylineJob(receiver.getBid());
}
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + receiver.getGateway());
- websocketMessageService.sendBatch(
- webSocketManageService.getValueWithWorkspaceAndUserType(
- device.getWorkspaceId(), UserTypeEnum.WEB.getVal()),
- CustomWebSocketMessage.builder()
- .data(eventsReceiver)
- .timestamp(System.currentTimeMillis())
- .bizCode(BizCodeEnum.FLIGHT_TASK_PROGRESS.getCode())
- .build());
-
- if (receiver.getNeedReply() == 1) {
- messageSender.publish(receivedTopic + TopicConst._REPLY_SUF,
- CommonTopicResponse.builder()
- .tid(receiver.getTid())
- .bid(receiver.getBid())
- .method(EventsMethodEnum.FLIGHT_TASK_PROGRESS.getMethod())
- .timestamp(System.currentTimeMillis())
- .data(RequestsReply.success())
- .build());
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
+ if (deviceOpt.isEmpty()) {
+ return null;
}
+ websocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.FLIGHT_TASK_PROGRESS.getCode(), eventsReceiver);
+
+ return receiver;
+ }
+
+ /**
+ * Notifications will be received through this interface when tasks are ready on the device.
+ * @param receiver
+ * @param headers
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLIGHT_TASK_READY, outputChannel = ChannelName.OUTBOUND_EVENTS)
+ public CommonTopicReceiver handleTaskNotifications(CommonTopicReceiver receiver, MessageHeaders headers) {
+ String receivedTopic = String.valueOf(headers.get(MqttHeaders.RECEIVED_TOPIC));
+ String dockSn = receivedTopic.substring((TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT).length(),
+ receivedTopic.indexOf(TopicConst.EVENTS_SUF));
+ List<String> flightIds = mapper.convertValue(receiver.getData(),
+ new TypeReference<Map<String, List<String>>>(){}).get(MapKeyConst.FLIGHT_IDS);
+
+ log.info("ready task list：{}", Arrays.toString(flightIds.toArray()) );
+ // Check conditional task blocking status.
+ String blockedId = waylineRedisService.getBlockedWaylineJobId(dockSn);
+ if (!StringUtils.hasText(blockedId)) {
+ return null;
+ }
+
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (deviceOpt.isEmpty()) {
+ return null;
+ }
+ DeviceDTO device = deviceOpt.get();
+
+ try {
+ for (String jobId : flightIds) {
+ boolean isExecute = waylineJobService.executeFlightTask(device.getWorkspaceId(), jobId);
+ if (!isExecute) {
+ return null;
+ }
+ Optional<WaylineJobDTO> waylineJobOpt = waylineRedisService.getConditionalWaylineJob(jobId);
+ if (waylineJobOpt.isEmpty()) {
+ log.info("The conditional job has expired and will no longer be executed.");
+ return receiver;
+ }
+ WaylineJobDTO waylineJob = waylineJobOpt.get();
+ this.retryPrepareJob(new ConditionalWaylineJobKey(device.getWorkspaceId(), dockSn, jobId), waylineJob);
+ return receiver;
+ }
+ } catch (Exception e) {
+ log.error("Failed to execute conditional task.");
+ e.printStackTrace();
+ }
+ return receiver;
}
@Scheduled(initialDelay = 10, fixedRate = 5, timeUnit = TimeUnit.SECONDS)
@@ -166,4 +212,80 @@
}
}
}
+
+ @Scheduled(initialDelay = 10, fixedRate = 5, timeUnit = TimeUnit.SECONDS)
+ private void prepareConditionJob() {
+ Optional<ConditionalWaylineJobKey> jobKeyOpt = waylineRedisService.getNearestConditionalWaylineJob();
+ if (jobKeyOpt.isEmpty()) {
+ return;
+ }
+ ConditionalWaylineJobKey jobKey = jobKeyOpt.get();
+ log.info("Check the conditional tasks of the wayline. {}", jobKey.toString());
+ // format: {workspace_id}:{dock_sn}:{job_id}
+ double time = waylineRedisService.getConditionalWaylineJobTime(jobKey);
+ long now = System.currentTimeMillis();
+ // prepare the task one day in advance.
+ int offset = 86_400_000;
+
+ if (now + offset < time) {
+ return;
+ }
+
+ WaylineJobDTO job = WaylineJobDTO.builder()
+ .jobId(jobKey.getJobId())
+ .status(WaylineJobStatusEnum.FAILED.getVal())
+ .executeTime(LocalDateTime.now())
+ .completedTime(LocalDateTime.now())
+ .code(HttpStatus.SC_INTERNAL_SERVER_ERROR).build();
+ try {
+ Optional<WaylineJobDTO> waylineJobOpt = waylineRedisService.getConditionalWaylineJob(jobKey.getJobId());
+ if (waylineJobOpt.isEmpty()) {
+ job.setCode(CommonErrorEnum.REDIS_DATA_NOT_FOUND.getErrorCode());
+ waylineJobService.updateJob(job);
+ waylineRedisService.removePrepareConditionalWaylineJob(jobKey);
+ return;
+ }
+ WaylineJobDTO waylineJob = waylineJobOpt.get();
+
+ ResponseResult result = waylineJobService.publishOneFlightTask(waylineJob);
+ waylineRedisService.removePrepareConditionalWaylineJob(jobKey);
+
+ if (ResponseResult.CODE_SUCCESS == result.getCode()) {
+ return;
+ }
+
+ // If the end time is exceeded, no more retries will be made.
+ waylineRedisService.delConditionalWaylineJob(jobKey.getJobId());
+ if (waylineJob.getEndTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() - RedisConst.WAYLINE_JOB_BLOCK_TIME * 1000 < now) {
+ return;
+ }
+
+ // Retry if the end time has not been exceeded.
+ this.retryPrepareJob(jobKey, waylineJob);
+
+ } catch (Exception e) {
+ log.info("Failed to prepare the conditional task.");
+ waylineJobService.updateJob(job);
+ }
+
+ }
+
+ private void retryPrepareJob(ConditionalWaylineJobKey jobKey, WaylineJobDTO waylineJob) {
+ Optional<WaylineJobDTO> childJobOpt = waylineJobService.createWaylineJobByParent(jobKey.getWorkspaceId(), jobKey.getJobId());
+ if (childJobOpt.isEmpty()) {
+ log.error("Failed to create wayline job.");
+ return;
+ }
+
+ WaylineJobDTO newJob = childJobOpt.get();
+ newJob.setBeginTime(LocalDateTime.now().plusSeconds(RedisConst.WAYLINE_JOB_BLOCK_TIME));
+ boolean isAdd = waylineRedisService.addPrepareConditionalWaylineJob(newJob);
+ if (!isAdd) {
+ log.error("Failed to create wayline job. {}", newJob.getJobId());
+ return;
+ }
+
+ waylineJob.setJobId(newJob.getJobId());
+ waylineRedisService.setConditionalWaylineJob(waylineJob);
+ }
}
diff --git a/src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java
index f540b66..bcea104 100644
--- a/src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java
+++ b/src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java
@@ -12,6 +12,7 @@
import com.dji.sample.wayline.model.dto.KmzFileProperties;
import com.dji.sample.wayline.model.dto.WaylineFileDTO;
import com.dji.sample.wayline.model.entity.WaylineFileEntity;
+import com.dji.sample.wayline.model.enums.WaylineTemplateTypeEnum;
import com.dji.sample.wayline.model.param.WaylineQueryParam;
import com.dji.sample.wayline.service.IWaylineFileService;
import org.dom4j.Document;
@@ -187,7 +188,7 @@
ZipEntry nextEntry = unzipFile.getNextEntry();
while (Objects.nonNull(nextEntry)) {
- boolean isWaylines = (KmzFileProperties.FILE_DIR_FIRST + "/" + KmzFileProperties.FILE_DIR_SECOND_WAYLINES).equals(nextEntry.getName());
+ boolean isWaylines = (KmzFileProperties.FILE_DIR_FIRST + "/" + KmzFileProperties.FILE_DIR_SECOND_TEMPLATE).equals(nextEntry.getName());
if (!isWaylines) {
nextEntry = unzipFile.getNextEntry();
continue;
@@ -208,11 +209,11 @@
String subType = droneNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_DRONE_SUB_ENUM_VALUE);
String payloadType = payloadNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_PAYLOAD_ENUM_VALUE);
String payloadSubType = payloadNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_PAYLOAD_SUB_ENUM_VALUE);
- String templateId = document.valueOf("//" + KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_TEMPLATE_ID);
+ String templateType = document.valueOf("//" + KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_TEMPLATE_TYPE);
if (!StringUtils.hasText(type) || !StringUtils.hasText(subType) ||
!StringUtils.hasText(payloadSubType) || !StringUtils.hasText(payloadType) ||
- !StringUtils.hasText(templateId)) {
+ !StringUtils.hasText(templateType)) {
throw new RuntimeException("The file format is incorrect.");
}
@@ -222,7 +223,7 @@
.objectKey(OssConfiguration.objectDirPrefix + File.separator + filename)
.name(filename.substring(0, filename.lastIndexOf(WAYLINE_FILE_SUFFIX)))
.sign(DigestUtils.md5DigestAsHex(file.getInputStream()))
- .templateTypes(List.of(Integer.parseInt(templateId)))
+ .templateTypes(List.of(WaylineTemplateTypeEnum.find(templateType).map(WaylineTemplateTypeEnum::getVal).orElse(-1)))
.build());
}
diff --git a/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
index acbeabe..4d4cbb2 100644
--- a/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
+++ b/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
@@ -12,7 +12,14 @@
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.control.model.param.DrcModeParam;
+import com.dji.sample.control.service.IDrcService;
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.receiver.OsdDockReceiver;
+import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
+import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.IDeviceService;
import com.dji.sample.media.model.MediaFileCountDTO;
import com.dji.sample.media.model.MediaMethodEnum;
@@ -20,12 +27,15 @@
import com.dji.sample.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.dto.*;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
+import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
import com.dji.sample.wayline.model.enums.WaylineMethodEnum;
import com.dji.sample.wayline.model.enums.WaylineTaskTypeEnum;
import com.dji.sample.wayline.model.param.CreateJobParam;
+import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.service.IWaylineFileService;
import com.dji.sample.wayline.service.IWaylineJobService;
+import com.dji.sample.wayline.service.IWaylineRedisService;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
@@ -37,6 +47,7 @@
import org.springframework.transaction.annotation.Isolation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
+import org.springframework.util.StringUtils;
import java.net.URL;
import java.sql.SQLException;
@@ -72,6 +83,15 @@
@Autowired
private IFileService fileService;
+ @Autowired
+ private IDrcService drcService;
+
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
+
+ @Autowired
+ private IWaylineRedisService waylineRedisService;
+
private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
int id = mapper.insert(jobEntity);
if (id <= 0) {
@@ -96,8 +116,8 @@
.beginTime(beginTime)
.endTime(endTime)
.status(WaylineJobStatusEnum.PENDING.getVal())
- .taskType(param.getTaskType())
- .waylineType(param.getWaylineType())
+ .taskType(param.getTaskType().getVal())
+ .waylineType(param.getWaylineType().getVal())
.outOfControlAction(param.getOutOfControlAction())
.rthAltitude(param.getRthAltitude())
.mediaCount(0)
@@ -123,24 +143,107 @@
return this.insertWaylineJob(jobEntity);
}
+ /**
+ * For immediate tasks, the server time shall prevail.
+ * @param param
+ */
+ private void fillImmediateTime(CreateJobParam param) {
+ if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType()) {
+ return;
+ }
+ long now = System.currentTimeMillis() / 1000;
+ if (CollectionUtils.isEmpty(param.getTaskDays())) {
+ param.setTaskDays(List.of(now));
+ }
+ if (CollectionUtils.isEmpty(param.getTaskPeriods())) {
+ param.setTaskPeriods(List.of(List.of(now)));
+ }
+ }
+
@Override
public ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {
- if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == param.getTaskType()) {
- param.setExecuteTime(System.currentTimeMillis());
- }
- Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param,
- customClaim.getWorkspaceId(), customClaim.getUsername(),
- param.getExecuteTime(), param.getExecuteTime());
- if (waylineJobOpt.isEmpty()) {
- throw new SQLException("Failed to create wayline job.");
- }
- WaylineJobDTO waylineJob = waylineJobOpt.get();
+ fillImmediateTime(param);
- boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn());
+ for (Long taskDay : param.getTaskDays()) {
+ LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(taskDay), ZoneId.systemDefault());
+ for (List<Long> taskPeriod : param.getTaskPeriods()) {
+ long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(0)), ZoneId.systemDefault()))
+ .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
+ long endTime = taskPeriod.size() > 1 ?
+ LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(1)), ZoneId.systemDefault()))
+ .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
+ Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
+ if (waylineJobOpt.isEmpty()) {
+ throw new SQLException("Failed to create wayline job.");
+ }
+
+ WaylineJobDTO waylineJob = waylineJobOpt.get();
+ // If it is a conditional task type, add conditions to the job parameters.
+ addConditions(waylineJob, param, beginTime, endTime);
+
+ return this.publishOneFlightTask(waylineJob);
+ }
+ }
+ return ResponseResult.error();
+ }
+
+ private void addConditions(WaylineJobDTO waylineJob, CreateJobParam param, Long beginTime, Long endTime) {
+ if (WaylineTaskTypeEnum.CONDITION != param.getTaskType()) {
+ return;
+ }
+
+ waylineJob.setConditions(
+ WaylineTaskConditionDTO.builder()
+ .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ?
+ WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
+ .readyConditions(WaylineTaskReadyConditionDTO.builder()
+ .batteryCapacity(param.getMinBatteryCapacity())
+ .beginTime(beginTime)
+ .endTime(endTime)
+ .build())
+ .build());
+
+ waylineRedisService.setConditionalWaylineJob(waylineJob);
+ // key: wayline_job_condition, value: {workspace_id}:{dock_sn}:{job_id}
+ boolean isAdd = waylineRedisService.addPrepareConditionalWaylineJob(waylineJob);
+ if (!isAdd) {
+ throw new RuntimeException("Failed to create conditional job.");
+ }
+ }
+
+ public ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
+
+ boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
if (!isOnline) {
throw new RuntimeException("Dock is offline.");
}
+ boolean isSuccess = this.prepareFlightTask(waylineJob);
+ if (!isSuccess) {
+ return ResponseResult.error("Failed to prepare job.");
+ }
+
+ // Issue an immediate task execution command.
+ if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
+ if (!executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId())) {
+ return ResponseResult.error("Failed to execute job.");
+ }
+ }
+
+ if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
+ // key: wayline_job_timed, value: {workspace_id}:{dock_sn}:{job_id}
+ boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
+ waylineJob.getWorkspaceId() + RedisConst.DELIMITER + waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(),
+ waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
+ if (!isAdd) {
+ return ResponseResult.error("Failed to create scheduled job.");
+ }
+ }
+
+ return ResponseResult.success();
+ }
+
+ private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {
// get wayline file
Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
if (waylineFile.isEmpty()) {
@@ -163,17 +266,16 @@
.build())
.build();
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
- waylineJob.getDockSn() + TopicConst.SERVICES_SUF;
- CommonTopicResponse<Object> response = CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(waylineJob.getJobId())
- .timestamp(System.currentTimeMillis())
- .data(flightTask)
- .method(WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod())
- .build();
+ if (WaylineTaskTypeEnum.CONDITION.getVal() == waylineJob.getTaskType()) {
+ if (Objects.isNull(waylineJob.getConditions())) {
+ throw new IllegalArgumentException();
+ }
+ flightTask.setReadyConditions(waylineJob.getConditions().getReadyConditions());
+ flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
+ }
- ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
+ ServiceReply serviceReply = messageSender.publishServicesTopic(
+ waylineJob.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod(), flightTask, waylineJob.getJobId());
if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
log.info("Prepare task ====> Error code: {}", serviceReply.getResult());
this.updateJob(WaylineJobDTO.builder()
@@ -183,26 +285,9 @@
.status(WaylineJobStatusEnum.FAILED.getVal())
.completedTime(LocalDateTime.now())
.code(serviceReply.getResult()).build());
- return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult());
+ return false;
}
-
- // Issue an immediate task execution command.
- if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
- if (!executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId())) {
- return ResponseResult.error("Failed to execute job.");
- }
- }
-
- if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
- boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
- waylineJob.getWorkspaceId() + RedisConst.DELIMITER + waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(),
- waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
- if (!isAdd) {
- return ResponseResult.error("Failed to create scheduled job.");
- }
- }
-
- return ResponseResult.success();
+ return true;
}
@Override
@@ -213,7 +298,7 @@
throw new IllegalArgumentException("Job doesn't exist.");
}
- boolean isOnline = deviceService.checkDeviceOnline(waylineJob.get().getDockSn());
+ boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.get().getDockSn());
if (!isOnline) {
throw new RuntimeException("Dock is offline.");
}
@@ -221,17 +306,8 @@
WaylineJobDTO job = waylineJob.get();
WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder().flightId(jobId).build();
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
- job.getDockSn() + TopicConst.SERVICES_SUF;
- CommonTopicResponse<Object> response = CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(jobId)
- .timestamp(System.currentTimeMillis())
- .data(flightTask)
- .method(WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod())
- .build();
-
- ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
+ ServiceReply serviceReply = messageSender.publishServicesTopic(
+ job.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod(), flightTask, jobId);
if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
log.info("Execute job ====> Error code: {}", serviceReply.getResult());
this.updateJob(WaylineJobDTO.builder()
@@ -240,6 +316,11 @@
.status(WaylineJobStatusEnum.FAILED.getVal())
.completedTime(LocalDateTime.now())
.code(serviceReply.getResult()).build());
+ // The conditional task fails and enters the blocking status.
+ if (WaylineTaskTypeEnum.CONDITION.getVal() == job.getTaskType()
+ && WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
+ waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
+ }
return false;
}
@@ -248,9 +329,7 @@
.executeTime(LocalDateTime.now())
.status(WaylineJobStatusEnum.IN_PROGRESS.getVal())
.build());
- RedisOpsUtils.setWithExpire(RedisConst.WAYLINE_JOB_RUNNING_PREFIX + job.getDockSn(),
- EventsReceiver.<WaylineTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build(),
- RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
+ waylineRedisService.setRunningWaylineJob(job.getDockSn(), EventsReceiver.<WaylineTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build());
return true;
}
@@ -262,8 +341,7 @@
// Check if the task status is correct.
boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty() ;
if (isErr) {
- throw new IllegalArgumentException("These tasks have an incorrect status and cannot be canceled. "
- + Arrays.toString(jobIds.toArray()));
+ throw new IllegalArgumentException("These tasks have an incorrect status and cannot be canceled. " + Arrays.toString(jobIds.toArray()));
}
// Group job id by dock sn.
@@ -275,21 +353,13 @@
}
public void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
- boolean isOnline = deviceService.checkDeviceOnline(dockSn);
+ boolean isOnline = deviceRedisService.checkDeviceOnline(dockSn);
if (!isOnline) {
throw new RuntimeException("Dock is offline.");
}
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF;
- CommonTopicResponse<Object> response = CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(UUID.randomUUID().toString())
- .timestamp(System.currentTimeMillis())
- .data(Map.of(MapKeyConst.FLIGHT_IDS, jobIds))
- .method(WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod())
- .build();
-
- ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
+ ServiceReply serviceReply = messageSender.publishServicesTopic(
+ dockSn, WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod(), Map.of(MapKeyConst.FLIGHT_IDS, jobIds));
if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
log.info("Cancel job ====> Error code: {}", serviceReply.getResult());
throw new RuntimeException("Failed to cancel the wayline job of " + dockSn);
@@ -366,8 +436,11 @@
String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString() + TopicConst._REPLY_SUF;
- DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + receiver.getGateway());
- Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(device.getWorkspaceId(), jobId);
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
+ if (deviceOpt.isEmpty()) {
+ return;
+ }
+ Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(deviceOpt.get().getWorkspaceId(), jobId);
if (waylineJobOpt.isEmpty()) {
builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
messageSender.publish(topic, builder.build());
@@ -415,19 +488,12 @@
String dockSn = jobOpt.get().getDockSn();
String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + dockSn;
- if (RedisOpsUtils.checkExist(key) &&
- jobId.equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())) {
+ if (RedisOpsUtils.checkExist(key) && jobId.equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())) {
return;
}
- ServiceReply reply = messageSender.publishWithReply(TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF,
- CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(UUID.randomUUID().toString())
- .timestamp(System.currentTimeMillis())
- .method(MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod())
- .data(Map.of(MapKeyConst.FLIGHT_ID, jobId))
- .build());
+ ServiceReply reply = messageSender.publishServicesTopic(
+ dockSn, MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod(), Map.of(MapKeyConst.FLIGHT_ID, jobId));
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
throw new RuntimeException("Failed to set media job upload priority. Error Code: " + reply.getResult());
}
@@ -467,6 +533,91 @@
.build();
}
+ @Override
+ public void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param) {
+ Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(workspaceId, jobId);
+ if (waylineJobOpt.isEmpty()) {
+ throw new RuntimeException("The job does not exist.");
+ }
+ WaylineJobDTO waylineJob = waylineJobOpt.get();
+ WaylineJobStatusEnum statusEnum = this.getWaylineState(waylineJob.getDockSn());
+ if (statusEnum.getEnd() || WaylineJobStatusEnum.PENDING == statusEnum) {
+ throw new RuntimeException("The wayline job status does not match, and the operation cannot be performed.");
+ }
+
+ switch (param.getStatus()) {
+ case PAUSE:
+ pauseJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
+ break;
+ case RESUME:
+ resumeJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
+ break;
+ }
+
+ }
+
+ public WaylineJobStatusEnum getWaylineState(String dockSn) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (dockOpt.isEmpty() || !StringUtils.hasText(dockOpt.get().getChildDeviceSn())) {
+ return WaylineJobStatusEnum.UNKNOWN;
+ }
+ Optional<OsdDockReceiver> dockOsdOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class);
+ Optional<OsdSubDeviceReceiver> deviceOsdOpt = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
+ if (dockOsdOpt.isEmpty() || deviceOsdOpt.isEmpty() || DockModeCodeEnum.WORKING != dockOsdOpt.get().getModeCode()) {
+ return WaylineJobStatusEnum.UNKNOWN;
+ }
+
+ OsdSubDeviceReceiver osdDevice = deviceOsdOpt.get();
+ if (DeviceModeCodeEnum.WAYLINE == osdDevice.getModeCode()
+ || DeviceModeCodeEnum.MANUAL == osdDevice.getModeCode()
+ || DeviceModeCodeEnum.TAKEOFF_AUTO == osdDevice.getModeCode()) {
+ if (StringUtils.hasText(waylineRedisService.getPausedWaylineJobId(dockSn))) {
+ return WaylineJobStatusEnum.PAUSED;
+ }
+ if (waylineRedisService.getRunningWaylineJob(dockSn).isPresent()) {
+ return WaylineJobStatusEnum.IN_PROGRESS;
+ }
+ }
+ return WaylineJobStatusEnum.UNKNOWN;
+ }
+
+ private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
+ if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
+ waylineRedisService.setPausedWaylineJob(dockSn, jobId);
+ return;
+ }
+
+ ServiceReply reply = messageSender.publishServicesTopic(
+ dockSn, WaylineMethodEnum.FLIGHT_TASK_PAUSE.getMethod(), "", jobId);
+ if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
+ throw new RuntimeException("Failed to pause wayline job. Error Code: " + reply.getResult());
+ }
+ waylineRedisService.delRunningWaylineJob(dockSn);
+ waylineRedisService.setPausedWaylineJob(dockSn, jobId);
+ }
+
+ private void resumeJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
+ Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningDataOpt = waylineRedisService.getRunningWaylineJob(dockSn);
+ if (WaylineJobStatusEnum.IN_PROGRESS == statusEnum && jobId.equals(runningDataOpt.map(EventsReceiver::getSn).get())) {
+ waylineRedisService.setRunningWaylineJob(dockSn, runningDataOpt.get());
+ return;
+ }
+ ServiceReply reply = messageSender.publishServicesTopic(
+ dockSn, WaylineMethodEnum.FLIGHT_TASK_RESUME.getMethod(), "", jobId);
+ if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
+ throw new RuntimeException("Failed to resume wayline job. Error Code: " + reply.getResult());
+ }
+
+ runningDataOpt.ifPresent(runningData -> waylineRedisService.setRunningWaylineJob(dockSn, runningData));
+ waylineRedisService.delPausedWaylineJob(dockSn);
+
+ if (deviceService.checkDockDrcMode(dockSn)) {
+ drcService.deviceDrcExit(workspaceId, DrcModeParam.builder().dockSn(dockSn)
+ .clientId(drcService.getDrcModeInRedis(dockSn)).build());
+ }
+
+ }
+
private WaylineJobDTO entity2Dto(WaylineJobEntity entity) {
if (entity == null) {
return null;
@@ -484,8 +635,8 @@
.username(entity.getUsername())
.workspaceId(entity.getWorkspaceId())
.status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
- RedisOpsUtils.checkExist(RedisConst.WAYLINE_JOB_PAUSED_PREFIX + entity.getJobId()) ?
- WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
+ entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
+ WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
.code(entity.getErrorCode())
.beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
.endTime(Objects.nonNull(entity.getEndTime()) ?
@@ -503,11 +654,12 @@
if (Objects.nonNull(entity.getEndTime())) {
builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
}
- if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() && RedisOpsUtils.getExpire(entity.getJobId()) > 0) {
- EventsReceiver<WaylineTaskProgressReceiver> taskProgress = (EventsReceiver<WaylineTaskProgressReceiver>) RedisOpsUtils.get(RedisConst.WAYLINE_JOB_RUNNING_PREFIX + entity.getDockSn());
- if (Objects.nonNull(taskProgress.getOutput()) && Objects.nonNull(taskProgress.getOutput().getProgress())) {
- builder.progress(taskProgress.getOutput().getProgress().getPercent());
- }
+ if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus()) {
+ builder.progress(waylineRedisService.getRunningWaylineJob(entity.getDockSn())
+ .map(EventsReceiver::getOutput)
+ .map(WaylineTaskProgressReceiver::getProgress)
+ .map(WaylineTaskProgress::getPercent)
+ .orElse(null));
}
if (entity.getMediaCount() == 0) {
diff --git a/src/main/java/com/dji/sample/wayline/service/impl/WaylineRedisServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/WaylineRedisServiceImpl.java
new file mode 100644
index 0000000..b93e155
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/service/impl/WaylineRedisServiceImpl.java
@@ -0,0 +1,112 @@
+package com.dji.sample.wayline.service.impl;
+
+import com.dji.sample.component.mqtt.model.EventsReceiver;
+import com.dji.sample.component.redis.RedisConst;
+import com.dji.sample.component.redis.RedisOpsUtils;
+import com.dji.sample.wayline.model.dto.ConditionalWaylineJobKey;
+import com.dji.sample.wayline.model.dto.WaylineJobDTO;
+import com.dji.sample.wayline.model.dto.WaylineTaskProgressReceiver;
+import com.dji.sample.wayline.service.IWaylineRedisService;
+import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
+
+import java.time.Duration;
+import java.time.LocalDateTime;
+import java.time.ZoneId;
+import java.util.Objects;
+import java.util.Optional;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/24
+ */
+@Service
+public class WaylineRedisServiceImpl implements IWaylineRedisService {
+
+ @Override
+ public void setRunningWaylineJob(String dockSn, EventsReceiver<WaylineTaskProgressReceiver> data) {
+ RedisOpsUtils.setWithExpire(RedisConst.WAYLINE_JOB_RUNNING_PREFIX + dockSn, data, RedisConst.DRC_MODE_ALIVE_SECOND);
+ }
+
+ @Override
+ public Optional<EventsReceiver<WaylineTaskProgressReceiver>> getRunningWaylineJob(String dockSn) {
+ return Optional.ofNullable((EventsReceiver<WaylineTaskProgressReceiver>) RedisOpsUtils.get(RedisConst.WAYLINE_JOB_RUNNING_PREFIX + dockSn));
+ }
+
+ @Override
+ public Boolean delRunningWaylineJob(String dockSn) {
+ return RedisOpsUtils.del(RedisConst.WAYLINE_JOB_RUNNING_PREFIX + dockSn);
+ }
+
+ @Override
+ public void setPausedWaylineJob(String dockSn, String jobId) {
+ RedisOpsUtils.setWithExpire(RedisConst.WAYLINE_JOB_PAUSED_PREFIX + dockSn, jobId, RedisConst.DRC_MODE_ALIVE_SECOND);
+ }
+
+ @Override
+ public String getPausedWaylineJobId(String dockSn) {
+ return (String) RedisOpsUtils.get(RedisConst.WAYLINE_JOB_PAUSED_PREFIX + dockSn);
+ }
+
+ @Override
+ public Boolean delPausedWaylineJob(String dockSn) {
+ return RedisOpsUtils.del(RedisConst.WAYLINE_JOB_PAUSED_PREFIX + dockSn);
+ }
+
+ @Override
+ public void setBlockedWaylineJob(String dockSn, String jobId) {
+ RedisOpsUtils.setWithExpire(RedisConst.WAYLINE_JOB_BLOCK_PREFIX + dockSn, jobId, RedisConst.WAYLINE_JOB_BLOCK_TIME);
+ }
+
+ @Override
+ public String getBlockedWaylineJobId(String dockSn) {
+ return (String) RedisOpsUtils.get(RedisConst.WAYLINE_JOB_BLOCK_PREFIX + dockSn);
+ }
+
+ @Override
+ public void setConditionalWaylineJob(WaylineJobDTO waylineJob) {
+ if (!StringUtils.hasText(waylineJob.getJobId())) {
+ throw new RuntimeException("Job id can't be null.");
+ }
+ RedisOpsUtils.setWithExpire(RedisConst.WAYLINE_JOB_CONDITION_PREFIX + waylineJob.getJobId(), waylineJob,
+ (Duration.between(waylineJob.getEndTime(), LocalDateTime.now()).getSeconds()));
+ }
+
+ @Override
+ public Optional<WaylineJobDTO> getConditionalWaylineJob(String jobId) {
+ return Optional.ofNullable((WaylineJobDTO) RedisOpsUtils.get(RedisConst.WAYLINE_JOB_CONDITION_PREFIX + jobId));
+ }
+
+ @Override
+ public Boolean delConditionalWaylineJob(String jobId) {
+ return RedisOpsUtils.del(RedisConst.WAYLINE_JOB_CONDITION_PREFIX + jobId);
+ }
+
+ @Override
+ public Boolean addPrepareConditionalWaylineJob(WaylineJobDTO waylineJob) {
+ if (Objects.isNull(waylineJob.getBeginTime())) {
+ return false;
+ }
+ // value: {workspace_id}:{dock_sn}:{job_id}
+ return RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_CONDITION_PREPARE,
+ waylineJob.getWorkspaceId() + RedisConst.DELIMITER + waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(),
+ waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
+ }
+
+ @Override
+ public Optional<ConditionalWaylineJobKey> getNearestConditionalWaylineJob() {
+ return Optional.ofNullable(RedisOpsUtils.zGetMin(RedisConst.WAYLINE_JOB_CONDITION_PREPARE))
+ .map(Object::toString).map(ConditionalWaylineJobKey::new);
+ }
+
+ @Override
+ public Double getConditionalWaylineJobTime(ConditionalWaylineJobKey jobKey) {
+ return RedisOpsUtils.zScore(RedisConst.WAYLINE_JOB_CONDITION_PREPARE, jobKey.getKey());
+ }
+
+ @Override
+ public Boolean removePrepareConditionalWaylineJob(ConditionalWaylineJobKey jobKey) {
+ return RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_CONDITION_PREPARE, jobKey.getKey());
+ }
+}
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 75c4872..a5c937a 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -52,6 +52,11 @@
path:
# Topics that need to be subscribed when initially connecting to mqtt, multiple topics are divided by ",".
inbound-topic: sys/product/+/status,thing/product/+/requests
+ DRC:
+ protocol: WS # @see com.dji.sample.component.mqtt.model.MqttProtocolEnum
+ host: Please enter your ip.
+ port: 8083
+ path: /mqtt
url:
manage:
@@ -75,7 +80,7 @@
# Tutorial: https://www.alibabacloud.com/help/en/object-storage-service/latest/use-a-temporary-credential-provided-by-sts-to-access-oss
oss:
- enable: true
+ enable: false
provider: ali # @see com.dji.sample.component.OssConfiguration.model.enums.OssTypeEnum
endpoint: https://oss-cn-hangzhou.aliyuncs.com
access-key: Please enter your access key.
--
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