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/service/impl/MessageSenderServiceImpl.java | 78 +++++++++++++++++++++++++++++---------
1 files changed, 59 insertions(+), 19 deletions(-)
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
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