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/component/mqtt/handler/EventsRouter.java | 29 ++++++++++++++++++++++++++---
1 files changed, 26 insertions(+), 3 deletions(-)
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());
+
+ }
+
}
--
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