From 75e6eea8cd3fac9cc888e2ffc9cdb126fab8429d Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Wed, 14 Aug 2024 15:45:55 +0800
Subject: [PATCH] 任务下发、更新、取消，优化图斑逻辑
---
src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java | 256 +++++++++++++++++++++++++++++++++-----------------
1 files changed, 169 insertions(+), 87 deletions(-)
diff --git a/src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java b/src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java
index 03f14e6..89d632e 100644
--- a/src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java
+++ b/src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java
@@ -10,7 +10,7 @@
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.redis.RedisOpsUtils;
-import com.dji.sample.droneairport.dao.DeviceExpanSionDao;
+import com.dji.sample.droneairport.dao.DeviceExpanSionMapper;
import com.dji.sample.droneairport.model.Entity.DeviceExpanSionEntity;
import com.dji.sample.droneairport.model.dto.*;
import com.dji.sample.droneairport.model.param.ReturnTaskParam;
@@ -46,6 +46,7 @@
import java.util.*;
import java.util.stream.Collectors;
+import static com.dji.sample.droneairport.utils.TaskAllocator.assignTasks;
import static com.dji.sample.patches.utils.TimerUtil.getCurrentTimestampPlus8Hours;
@Service
@@ -55,7 +56,7 @@
@Autowired
private IDeviceRedisService redisService;
@Autowired
- private DeviceExpanSionDao expanSionDao;
+ private DeviceExpanSionMapper expanSionMapper;
@Autowired
private TaskInfoMapper taskInfoMapper;
@Autowired
@@ -111,10 +112,10 @@
@Override
public String addDrone(String workspaceId) {
try {
- DeviceExpanSionEntity airport = expanSionDao.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
+ DeviceExpanSionEntity airport = expanSionMapper.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
.eq(DeviceExpanSionEntity::getWorkspaceId, workspaceId)
.eq(DeviceExpanSionEntity::getType, 0));
- DeviceExpanSionEntity drone = expanSionDao.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
+ DeviceExpanSionEntity drone = expanSionMapper.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()
.eq(DeviceExpanSionEntity::getWorkspaceId, workspaceId)
.eq(DeviceExpanSionEntity::getType, 1));
AddDeviceDto dto = deviceEntityToDto(drone);
@@ -179,8 +180,6 @@
AddTaskDto addTaskDto = jsonToDto(jsonObject);
TaskInfo taskInfo = new TaskInfo();
List<String> listx = convertStringToList(addTaskDto.getDeviceid());
- String sn = listx.get(0);
- String workspaceId = getWorkspaceId(sn);
taskInfo.setId(traceid);
taskInfo.setTaskId(taskId);
taskInfo.setName(addTaskDto.getBizidname());
@@ -188,47 +187,54 @@
taskInfo.setCreateUser(username);
param.setTraceId(traceid);
taskInfoMapper.insert(taskInfo);
+
+ // 转换 TaskListDto 为 LotInfo
+ List<LotInfo> lotInfos = new ArrayList<>();
List<TaskListDto> tasklist = addTaskDto.getTasklist();
for (TaskListDto taskListDto : tasklist) {
- LotInfo lotInfo = new LotInfo();
- lotInfo = convertToLotInfo(taskListDto);
+ LotInfo lotInfo = convertToLotInfo(taskListDto);
lotInfo.setTaskId(taskId);
lotInfo.setType(0);
lotInfo.setTaskName(addTaskDto.getBizidname());
lotInfo.setUserName(username);
- lotInfo.setWorkspaceId(workspaceId);
+ lotInfos.add(lotInfo);
patchesMapper.insert(lotInfo);
}
- Long time = getCurrentTimestampPlus8Hours(14);
-// 获取未规划的图斑集合
- List<List<LotInfo>> lists = timerUtil.getNoPlan(workspaceId);
- List<List<LotInfo>> convertedLists = TimerUtil.convertToLists(lists);
- for (List<LotInfo> list : convertedLists) {
- String waylineName = TimerUtil.getTimeName();
- //根据获取的图斑集合获得kmz航线文件
- MultipartFile multipartFile = null;
- try {
- multipartFile = timerUtil.getFile(waylineName, list, 28.62452712442823, 115.85666327144976);
- } catch (IOException e) {
- throw new RuntimeException(e);
+ // 获取机场信息
+ List<Airport> airports = getAirportsBySn(listx);
+ List<AirportTasks> airportTasks = assignTasks(airports, lotInfos);
+
+ // 处理并插入图斑到数据库
+ processAndInsertTasks(airportTasks);
+
+ // 根据机场位置生成航线任务
+ for (AirportTasks airportTask : airportTasks) {
+ Airport airport = airportTask.getAirport();
+ List<LotInfo> lotInfosForAirport = airportTask.getTasks();
+
+ if (!lotInfosForAirport.isEmpty()) {
+ String waylineName = TimerUtil.getTimeName();
+ MultipartFile multipartFile = timerUtil.getFile(waylineName, lotInfosForAirport, airport.getLat(), airport.getLon());
+ WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, airport.getWorkspaceId(), username);
+ Long time = getCurrentTimestampPlus8Hours(14);
+ List<List<Long>> listOfLists = new ArrayList<>();
+ List<Long> sublist = new ArrayList<>();
+ sublist.add(time);
+ listOfLists.add(sublist);
+ List<Long> lists1 = new ArrayList<>();
+ lists1.add(time);
+ String times = TimerUtil.convertTimestampToFormattedString(time);
+ param.setWaylineId(taskId);
+ timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, taskId+"~"+airport.getWorkspaceId(),airport.getDockSn());
+ timerUtil.updatePatchesStatu(lotInfosForAirport);
}
- //上传航线文件
- WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, workspaceId, username);
- //将为规划的图斑状态更新为已规划
- List<List<Long>> listOfLists = new ArrayList<>();
- List<Long> sublist = new ArrayList<>();
- sublist.add(time); // 添加整数值
- listOfLists.add(sublist);
- List<Long> lists1 = new ArrayList<>();
- lists1.add(time);
- String times = TimerUtil.convertTimestampToFormattedString(time);
- param.setWaylineId(taskId);
- TimerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, taskId);
- timerUtil.updatePatchesStatu(list);
}
+
return param;
}
+
+
@Override
public ReturnTaskParam updateTask(String base64, String Secret, String username) throws Exception {
@@ -239,57 +245,88 @@
JSONObject jsonObject = new JSONObject(decryptedJson);
UpdataTaskDto addTaskDto = UpjsonToDto(jsonObject);
String taskId = addTaskDto.getTaskid();
+ String Bizidname=getBizidnameByTask(taskId);
delPatchesByTaskId(taskId);
-// delWaylineJob(taskId);
+ delTaskInfo(taskId);
+ delWaylineJob(taskId);
TaskInfo taskInfo = new TaskInfo();
List<String> listx = convertStringToList(addTaskDto.getDeviceid());
- String sn = listx.get(0);
- String workspaceId = getWorkspaceId(sn);
taskInfo.setId(traceid);
taskInfo.setTaskId(taskId);
+ taskInfo.setName(Bizidname);
taskInfo.setDeviceIds(addTaskDto.getDeviceid());
taskInfo.setCreateUser(username);
param.setTraceId(traceid);
- updateTaskInfo(traceid, taskId, addTaskDto.getDeviceid(), username);
+ taskInfoMapper.insert(taskInfo);
+
+ // 转换 TaskListDto 为 LotInfo
+ List<LotInfo> lotInfos = new ArrayList<>();
List<TaskListDto> tasklist = addTaskDto.getTasklist();
for (TaskListDto taskListDto : tasklist) {
- LotInfo lotInfo = new LotInfo();
- lotInfo = convertToLotInfo(taskListDto);
- lotInfo.setUserName(username);
+ LotInfo lotInfo = convertToLotInfo(taskListDto);
lotInfo.setTaskId(taskId);
- lotInfo.setWorkspaceId(workspaceId);
+ lotInfo.setType(0);
+ lotInfo.setTaskName(Bizidname);
+ lotInfo.setUserName(username);
+ lotInfos.add(lotInfo);
patchesMapper.insert(lotInfo);
}
- Long time = getCurrentTimestampPlus8Hours(14);
-// 获取未规划的图斑集合
- List<List<LotInfo>> lists = timerUtil.getNoPlan(workspaceId);
- List<List<LotInfo>> convertedLists = TimerUtil.convertToLists(lists);
- for (List<LotInfo> list : convertedLists) {
- String waylineName = TimerUtil.getTimeName();
- //根据获取的图斑集合获得kmz航线文件
- MultipartFile multipartFile = null;
- try {
- multipartFile = timerUtil.getFile(waylineName, list, 28.62452712442823, 115.85666327144976);
- } catch (IOException e) {
- throw new RuntimeException(e);
+ // 获取机场信息
+ List<Airport> airports = getAirportsBySn(listx);
+ List<AirportTasks> airportTasks = assignTasks(airports, lotInfos);
+
+ // 处理并插入图斑到数据库
+ processAndInsertTasks(airportTasks);
+
+ // 根据机场位置生成航线任务
+ for (AirportTasks airportTask : airportTasks) {
+ Airport airport = airportTask.getAirport();
+ List<LotInfo> lotInfosForAirport = airportTask.getTasks();
+
+ if (!lotInfosForAirport.isEmpty()) {
+ String waylineName = TimerUtil.getTimeName();
+ MultipartFile multipartFile = timerUtil.getFile(waylineName, lotInfosForAirport, airport.getLat(), airport.getLon());
+ WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, airport.getWorkspaceId(), username);
+
+ // 将为规划的图斑状态更新为已规划
+ Long time = getCurrentTimestampPlus8Hours(14);
+ List<List<Long>> listOfLists = new ArrayList<>();
+ List<Long> sublist = new ArrayList<>();
+ sublist.add(time);
+ listOfLists.add(sublist);
+ List<Long> lists1 = new ArrayList<>();
+ lists1.add(time);
+ String times = TimerUtil.convertTimestampToFormattedString(time);
+ param.setWaylineId(taskId);
+ timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, airport.getWorkspaceId()+"~"+taskId,airport.getDockSn());
+ timerUtil.updatePatchesStatu(lotInfosForAirport);
}
- //上传航线文件
- WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, workspaceId, username);
- updateJob(taskId, waylineFile.getWaylineId());
- param.setWaylineId(taskId);
- timerUtil.updatePatchesStatu(list);
}
+
return param;
}
@Override
public ResponseResult cancelTask(String taskId) {
LambdaUpdateWrapper<WaylineJobEntity> updateWrapper = new LambdaUpdateWrapper<>();
- updateWrapper.eq(WaylineJobEntity::getJobId, taskId)
+ updateWrapper.like(WaylineJobEntity::getJobId, taskId)
.set(WaylineJobEntity::getStatus, 4);
waylineJobMapper.update(null, updateWrapper);
return null;
+ }
+
+ public void processAndInsertTasks(List<AirportTasks> airportTasks) {
+ for (AirportTasks airportTasksEntry : airportTasks) {
+ Airport airport = airportTasksEntry.getAirport();
+ List<LotInfo> tasks = airportTasksEntry.getTasks();
+
+ // 处理每个任务
+ for (LotInfo lotInfo : tasks) {
+ lotInfo.setWorkspaceId(airport.getWorkspaceId()); // 设置 workspaceId
+ patchesMapper.updateById(lotInfo);
+ }
+ }
}
@Override
@@ -314,6 +351,7 @@
}
return null;
}
+
private static final String BASE_DIR = "src/main/resources/tmp";
/**
@@ -322,7 +360,7 @@
* @param taskId 任务 ID
* @return 匹配的 DB 文件路径列表
*/
- public List<String> findDbFilesByTaskId(String taskId) {
+ public List<String> findDbFilesByTaskId(String taskId) {
List<String> dbFilePaths = new ArrayList<>();
File baseDir = new File(BASE_DIR);
@@ -354,6 +392,9 @@
patchesMapper.delete(new LambdaUpdateWrapper<LotInfo>().eq(LotInfo::getTaskId, taskId));
}
+ public void delTaskInfo(String taskId){
+ taskInfoMapper.delete(new LambdaUpdateWrapper<TaskInfo>().eq(TaskInfo::getTaskId, taskId));
+ }
private String buildRequestBody(AddDeviceDto dto) {
try {
return objectMapper.writeValueAsString(dto);
@@ -368,6 +409,10 @@
return entity.getWorkspaceId();
}
+ public String getBizidnameByTask(String taskId){
+ TaskInfo taskInfo= taskInfoMapper.selectOne(new LambdaQueryWrapper<TaskInfo>().eq(TaskInfo::getTaskId, taskId));
+ return taskInfo.getName();
+ }
public static String enSM2(String data, String pubKey) throws InvalidCipherTextException, IOException {
String encrypt = Utils.encrypt(data, pubKey);
encrypt = Utils.hexToBase64(encrypt);
@@ -378,6 +423,8 @@
String hex = Utils.convertBase64ToHex(Base64);
return Utils.decrypt(hex, priKey);
}
+
+
public static Map<String, String> createKey() throws NoSuchAlgorithmException {
@@ -397,7 +444,7 @@
.latitude(entity.getLatitude())
.radius(entity.getRadius())
.regioncode(entity.getRegioncode())
- .deviceid(entity.getDeviceId())
+ .deviceid(entity.getDeviceSn())
.model(entity.getModel())
.build();
}
@@ -416,30 +463,45 @@
return builder.build();
}
- public OsdSubDeviceReceiver getDroneFromCache(String sn) {
+ public String getDroneFromCache(String sn) {
String key = "osd:" + sn;
- return (OsdSubDeviceReceiver) RedisOpsUtils.get(key);
+ return RedisOpsUtils.get(key).toString();
}
-
-
+ public void delWaylineJob(String taskId) {
+ waylineJobMapper.delete(new LambdaQueryWrapper<WaylineJobEntity>().like(WaylineJobEntity::getJobId, taskId));
+ }
public DroneStateDto getAirportFromCache(String deviceId) {
- OsdSubDeviceReceiver receiver = getDroneFromCache(deviceId);
-
- if (receiver == null) {
- throw new IllegalArgumentException("Receiver data not found for device ID: " + deviceId);
+ String receiver = getDroneFromCache(deviceId);
+ double gimbalYaw =0.0;
+ double gimbalPitch=0.0;
+ com.alibaba.fastjson.JSONObject jsonObject = JSON.parseObject(receiver);
+ double latitude = jsonObject.getDoubleValue("latitude");
+ double longitude = jsonObject.getDoubleValue("longitude");
+ int modeCode = jsonObject.getInteger("mode_code");
+ double elevation = jsonObject.getDoubleValue("elevation");
+ double height = jsonObject.getDoubleValue("height");
+ com.alibaba.fastjson.JSONArray payloads = jsonObject.getJSONArray("payloads");
+ if (payloads != null && payloads.size() > 1) {
+ com.alibaba.fastjson.JSONArray payloadArray = payloads.getJSONArray(1);
+ for (int i = 0; i < payloadArray.size(); i++) {
+ com.alibaba.fastjson.JSONObject payload = payloadArray.getJSONObject(i);
+ gimbalYaw = payload.getDoubleValue("gimbal_yaw");
+ gimbalPitch = payload.getDoubleValue("gimbal_pitch");
+ }
}
-
+ com.alibaba.fastjson.JSONObject battery = jsonObject.getJSONObject("battery");
+ int batteryCapacityPercent = battery.getInteger("capacity_percent");
DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();
- builder.gimbalYal(receiver.getAttitudeHead() != null ? receiver.getAttitudeHead() : 0.0)
- .gimbalPitch(receiver.getAttitudePitch() != null ? receiver.getAttitudePitch() : 0.0)
- .batteryCapacityPercent(receiver.getBattery() != null ? receiver.getBattery().getCapacityPercent() : 0)
- .height(receiver.getHeight() != null ? receiver.getHeight() : 0.0)
- .latitude(receiver.getLatitude() != null ? receiver.getLatitude() : 0.0)
- .longitude(receiver.getLongitude() != null ? receiver.getLongitude() : 0.0)
- .modeCode(receiver.getModeCode() != null ? receiver.getModeCode().getVal() : 0)
- .elevation(receiver.getElevation() != null ? receiver.getElevation() : 0.0)
- .gpsState(2);
+ builder.gimbalYal(gimbalYaw)
+ .gimbalPitch(gimbalPitch)
+ .batteryCapacityPercent(batteryCapacityPercent)
+ .height(height)
+ .latitude(latitude)
+ .longitude(longitude)
+ .modeCode(modeCode)
+ .elevation(elevation)
+ .gpsState(3);
return builder.build();
}
@@ -523,6 +585,32 @@
}
+ public List<Airport> getAirportsBySn(List<String> snList) {
+ List<Airport> airports = new ArrayList<>();
+ // 查询所有设备
+ List<DeviceExpanSionEntity> entities = expanSionMapper.selectList(
+ new LambdaQueryWrapper<DeviceExpanSionEntity>().in(DeviceExpanSionEntity::getDeviceSn, snList)
+ );
+
+ // 使用一个Map来存储SN和经纬度的对应关系
+ Map<String, DeviceExpanSionEntity> entityMap = new HashMap<>();
+ for (DeviceExpanSionEntity entity : entities) {
+ entityMap.put(entity.getDeviceSn(), entity);
+ }
+
+ // 遍历SN列表，创建Airport对象
+ for (String sn : snList) {
+ DeviceExpanSionEntity entity = entityMap.get(sn);
+ if (entity != null) {
+ DeviceEntity deviceEntity = deviceMapper.selectOne(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getChildSn,sn));
+ Airport airport = new Airport(entity.getWorkspaceId(),deviceEntity.getDeviceSn(),entity.getLatitude(), entity.getLongitude());
+ airports.add(airport);
+ }
+ }
+
+ return airports;
+ }
+
public static List<String> convertStringToList(String input) {
// 使用 Hutool 解析字符串
JSONArray jsonArray = JSONUtil.parseArray(input);
@@ -547,11 +635,6 @@
// 执行更新操作
taskInfoMapper.update(taskInfo, updateWrapper);
}
-
- public void delWaylineFile(String waylineId) {
- fileMapper.delete(new LambdaUpdateWrapper<WaylineFileEntity>().eq(WaylineFileEntity::getWaylineId, waylineId));
- }
-
public void updateJob(String jobid, String waylineId) {
LambdaUpdateWrapper<WaylineJobEntity> updateWrapper = new LambdaUpdateWrapper<>();
updateWrapper.eq(WaylineJobEntity::getJobId, jobid)
@@ -560,5 +643,4 @@
// 调用 update 方法进行更新操作
waylineJobMapper.update(null, updateWrapper);
}
-
-}
\ No newline at end of file
+}
--
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